diff --git a/s_graphs/CMakeLists.txt b/lidar_situational_graphs/CMakeLists.txt
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diff --git a/s_graphs/apps/floor_plan_node.cpp b/lidar_situational_graphs/apps/floor_plan_node.cpp
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diff --git a/s_graphs/apps/room_segmentation_node.cpp b/lidar_situational_graphs/apps/room_segmentation_node.cpp
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diff --git a/s_graphs/apps/s_graphs_node.cpp b/lidar_situational_graphs/apps/s_graphs_node.cpp
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diff --git a/s_graphs/apps/scan_matching_odometry_node.cpp b/lidar_situational_graphs/apps/scan_matching_odometry_node.cpp
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diff --git a/s_graphs/cmake/FindG2O.cmake b/lidar_situational_graphs/cmake/FindG2O.cmake
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diff --git a/s_graphs/include/g2o/edge_doorway_two_rooms.hpp b/lidar_situational_graphs/include/g2o/edge_doorway_two_rooms.hpp
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diff --git a/s_graphs/include/g2o/edge_infinite_room_plane.hpp b/lidar_situational_graphs/include/g2o/edge_infinite_room_plane.hpp
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diff --git a/s_graphs/include/g2o/edge_loop_closure.hpp b/lidar_situational_graphs/include/g2o/edge_loop_closure.hpp
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diff --git a/s_graphs/include/g2o/edge_plane.hpp b/lidar_situational_graphs/include/g2o/edge_plane.hpp
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rename from s_graphs/include/g2o/edge_plane.hpp
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diff --git a/s_graphs/include/g2o/edge_plane_identity.hpp b/lidar_situational_graphs/include/g2o/edge_plane_identity.hpp
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diff --git a/s_graphs/include/g2o/edge_plane_prior.hpp b/lidar_situational_graphs/include/g2o/edge_plane_prior.hpp
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rename from s_graphs/include/g2o/edge_plane_prior.hpp
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diff --git a/s_graphs/include/g2o/edge_room.hpp b/lidar_situational_graphs/include/g2o/edge_room.hpp
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rename from s_graphs/include/g2o/edge_room.hpp
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diff --git a/s_graphs/include/g2o/edge_se3_plane.hpp b/lidar_situational_graphs/include/g2o/edge_se3_plane.hpp
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diff --git a/s_graphs/include/g2o/edge_se3_point_to_plane.hpp b/lidar_situational_graphs/include/g2o/edge_se3_point_to_plane.hpp
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rename from s_graphs/include/g2o/edge_se3_point_to_plane.hpp
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diff --git a/s_graphs/include/g2o/edge_se3_priorquat.hpp b/lidar_situational_graphs/include/g2o/edge_se3_priorquat.hpp
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rename from s_graphs/include/g2o/edge_se3_priorquat.hpp
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diff --git a/s_graphs/include/g2o/edge_se3_priorvec.hpp b/lidar_situational_graphs/include/g2o/edge_se3_priorvec.hpp
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rename from s_graphs/include/g2o/edge_se3_priorvec.hpp
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diff --git a/s_graphs/include/g2o/edge_se3_priorxy.hpp b/lidar_situational_graphs/include/g2o/edge_se3_priorxy.hpp
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rename from s_graphs/include/g2o/edge_se3_priorxy.hpp
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diff --git a/s_graphs/include/g2o/edge_se3_priorxyz.hpp b/lidar_situational_graphs/include/g2o/edge_se3_priorxyz.hpp
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rename from s_graphs/include/g2o/edge_se3_priorxyz.hpp
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diff --git a/s_graphs/include/g2o/edge_se3_two_planes.hpp b/lidar_situational_graphs/include/g2o/edge_se3_two_planes.hpp
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rename from s_graphs/include/g2o/edge_se3_two_planes.hpp
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diff --git a/s_graphs/include/g2o/edge_se3_two_rooms.hpp b/lidar_situational_graphs/include/g2o/edge_se3_two_rooms.hpp
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rename from s_graphs/include/g2o/edge_se3_two_rooms.hpp
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diff --git a/s_graphs/include/g2o/edge_wall_two_planes.hpp b/lidar_situational_graphs/include/g2o/edge_wall_two_planes.hpp
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rename from s_graphs/include/g2o/edge_wall_two_planes.hpp
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diff --git a/s_graphs/include/g2o/robust_kernel_io.hpp b/lidar_situational_graphs/include/g2o/robust_kernel_io.hpp
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rename from s_graphs/include/g2o/robust_kernel_io.hpp
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diff --git a/s_graphs/include/g2o/vertex_deviation.hpp b/lidar_situational_graphs/include/g2o/vertex_deviation.hpp
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rename from s_graphs/include/g2o/vertex_deviation.hpp
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diff --git a/s_graphs/include/g2o/vertex_doorway.hpp b/lidar_situational_graphs/include/g2o/vertex_doorway.hpp
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rename from s_graphs/include/g2o/vertex_doorway.hpp
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diff --git a/s_graphs/include/g2o/vertex_floor.hpp b/lidar_situational_graphs/include/g2o/vertex_floor.hpp
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rename from s_graphs/include/g2o/vertex_floor.hpp
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diff --git a/s_graphs/include/g2o/vertex_infinite_room.hpp b/lidar_situational_graphs/include/g2o/vertex_infinite_room.hpp
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rename from s_graphs/include/g2o/vertex_infinite_room.hpp
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diff --git a/s_graphs/include/g2o/vertex_room.hpp b/lidar_situational_graphs/include/g2o/vertex_room.hpp
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rename from s_graphs/include/g2o/vertex_room.hpp
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diff --git a/s_graphs/include/g2o/vertex_wall.hpp b/lidar_situational_graphs/include/g2o/vertex_wall.hpp
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rename from s_graphs/include/g2o/vertex_wall.hpp
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diff --git a/s_graphs/include/s_graphs/backend/floor_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/floor_mapper.hpp
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diff --git a/s_graphs/include/s_graphs/backend/gps_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/gps_mapper.hpp
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diff --git a/s_graphs/include/s_graphs/backend/graph_slam.hpp b/lidar_situational_graphs/include/s_graphs/backend/graph_slam.hpp
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rename from s_graphs/include/s_graphs/backend/graph_slam.hpp
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diff --git a/s_graphs/include/s_graphs/backend/imu_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/imu_mapper.hpp
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rename from s_graphs/include/s_graphs/backend/imu_mapper.hpp
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diff --git a/s_graphs/include/s_graphs/backend/keyframe_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/keyframe_mapper.hpp
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rename from s_graphs/include/s_graphs/backend/keyframe_mapper.hpp
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diff --git a/s_graphs/include/s_graphs/backend/loop_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/loop_mapper.hpp
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rename from s_graphs/include/s_graphs/backend/loop_mapper.hpp
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diff --git a/s_graphs/include/s_graphs/backend/plane_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/plane_mapper.hpp
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rename from s_graphs/include/s_graphs/backend/plane_mapper.hpp
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diff --git a/s_graphs/include/s_graphs/backend/room_graph_generator.hpp b/lidar_situational_graphs/include/s_graphs/backend/room_graph_generator.hpp
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rename from s_graphs/include/s_graphs/backend/room_graph_generator.hpp
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diff --git a/s_graphs/include/s_graphs/backend/room_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/room_mapper.hpp
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diff --git a/s_graphs/include/s_graphs/backend/wall_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/wall_mapper.hpp
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rename from s_graphs/include/s_graphs/backend/wall_mapper.hpp
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diff --git a/s_graphs/include/s_graphs/common/door_ways.hpp b/lidar_situational_graphs/include/s_graphs/common/door_ways.hpp
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rename from s_graphs/include/s_graphs/common/door_ways.hpp
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diff --git a/s_graphs/include/s_graphs/common/floors.hpp b/lidar_situational_graphs/include/s_graphs/common/floors.hpp
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diff --git a/s_graphs/include/s_graphs/common/graph_utils.hpp b/lidar_situational_graphs/include/s_graphs/common/graph_utils.hpp
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diff --git a/s_graphs/include/s_graphs/common/infinite_rooms.hpp b/lidar_situational_graphs/include/s_graphs/common/infinite_rooms.hpp
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diff --git a/s_graphs/include/s_graphs/common/information_matrix_calculator.hpp b/lidar_situational_graphs/include/s_graphs/common/information_matrix_calculator.hpp
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diff --git a/s_graphs/include/s_graphs/common/keyframe.hpp b/lidar_situational_graphs/include/s_graphs/common/keyframe.hpp
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diff --git a/s_graphs/include/s_graphs/common/map_cloud_generator.hpp b/lidar_situational_graphs/include/s_graphs/common/map_cloud_generator.hpp
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diff --git a/s_graphs/include/s_graphs/common/nmea_sentence_parser.hpp b/lidar_situational_graphs/include/s_graphs/common/nmea_sentence_parser.hpp
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diff --git a/s_graphs/include/s_graphs/common/optimization_data.hpp b/lidar_situational_graphs/include/s_graphs/common/optimization_data.hpp
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diff --git a/s_graphs/include/s_graphs/common/planes.hpp b/lidar_situational_graphs/include/s_graphs/common/planes.hpp
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rename from s_graphs/include/s_graphs/common/planes.hpp
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diff --git a/s_graphs/include/s_graphs/common/registrations.hpp b/lidar_situational_graphs/include/s_graphs/common/registrations.hpp
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diff --git a/s_graphs/include/s_graphs/common/rooms.hpp b/lidar_situational_graphs/include/s_graphs/common/rooms.hpp
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rename from s_graphs/include/s_graphs/common/rooms.hpp
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diff --git a/s_graphs/include/s_graphs/common/ros_time_hash.hpp b/lidar_situational_graphs/include/s_graphs/common/ros_time_hash.hpp
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diff --git a/s_graphs/include/s_graphs/frontend/floor_analyzer.hpp b/lidar_situational_graphs/include/s_graphs/frontend/floor_analyzer.hpp
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diff --git a/s_graphs/include/s_graphs/frontend/keyframe_updater.hpp b/lidar_situational_graphs/include/s_graphs/frontend/keyframe_updater.hpp
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diff --git a/s_graphs/include/s_graphs/frontend/loop_detector.hpp b/lidar_situational_graphs/include/s_graphs/frontend/loop_detector.hpp
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diff --git a/s_graphs/include/s_graphs/frontend/room_analyzer.hpp b/lidar_situational_graphs/include/s_graphs/frontend/room_analyzer.hpp
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diff --git a/s_graphs/include/s_graphs/visualization/graph_publisher.hpp b/lidar_situational_graphs/include/s_graphs/visualization/graph_publisher.hpp
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diff --git a/s_graphs/launch/ros1_tf.launch b/lidar_situational_graphs/launch/ros1_tf.launch
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diff --git a/s_graphs/launch/s_graphs_unitree_launch.py b/lidar_situational_graphs/launch/s_graphs_unitree_launch.py
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diff --git a/s_graphs/lidar_situational_graphs/__init__.py b/lidar_situational_graphs/lidar_situational_graphs/__init__.py
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diff --git a/s_graphs/lidar_situational_graphs/map2odom_publisher.py b/lidar_situational_graphs/lidar_situational_graphs/map2odom_publisher.py
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diff --git a/s_graphs/package.xml b/lidar_situational_graphs/package.xml
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diff --git a/s_graphs/rviz/s_graphs_ros1.rviz b/lidar_situational_graphs/rviz/s_graphs_ros1.rviz
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diff --git a/s_graphs/rviz/s_graphs_ros2.rviz b/lidar_situational_graphs/rviz/s_graphs_ros2.rviz
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diff --git a/s_graphs/rviz/s_graphs_ros2_robot1.rviz b/lidar_situational_graphs/rviz/s_graphs_ros2_robot1.rviz
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diff --git a/s_graphs/rviz/s_graphs_ros2_robot3.rviz b/lidar_situational_graphs/rviz/s_graphs_ros2_robot3.rviz
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diff --git a/s_graphs/src/g2o/edge_infinite_room_plane.cpp b/lidar_situational_graphs/src/g2o/edge_infinite_room_plane.cpp
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rename from s_graphs/src/g2o/edge_infinite_room_plane.cpp
rename to lidar_situational_graphs/src/g2o/edge_infinite_room_plane.cpp
diff --git a/s_graphs/src/g2o/edge_plane.cpp b/lidar_situational_graphs/src/g2o/edge_plane.cpp
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rename from s_graphs/src/g2o/edge_plane.cpp
rename to lidar_situational_graphs/src/g2o/edge_plane.cpp
diff --git a/s_graphs/src/g2o/edge_plane_identity.cpp b/lidar_situational_graphs/src/g2o/edge_plane_identity.cpp
similarity index 100%
rename from s_graphs/src/g2o/edge_plane_identity.cpp
rename to lidar_situational_graphs/src/g2o/edge_plane_identity.cpp
diff --git a/s_graphs/src/g2o/edge_plane_prior.cpp b/lidar_situational_graphs/src/g2o/edge_plane_prior.cpp
similarity index 100%
rename from s_graphs/src/g2o/edge_plane_prior.cpp
rename to lidar_situational_graphs/src/g2o/edge_plane_prior.cpp
diff --git a/s_graphs/src/g2o/edge_room.cpp b/lidar_situational_graphs/src/g2o/edge_room.cpp
similarity index 100%
rename from s_graphs/src/g2o/edge_room.cpp
rename to lidar_situational_graphs/src/g2o/edge_room.cpp
diff --git a/s_graphs/src/g2o/edge_se3_plane.cpp b/lidar_situational_graphs/src/g2o/edge_se3_plane.cpp
similarity index 100%
rename from s_graphs/src/g2o/edge_se3_plane.cpp
rename to lidar_situational_graphs/src/g2o/edge_se3_plane.cpp
diff --git a/s_graphs/src/g2o/edge_se3_point_to_plane.cpp b/lidar_situational_graphs/src/g2o/edge_se3_point_to_plane.cpp
similarity index 100%
rename from s_graphs/src/g2o/edge_se3_point_to_plane.cpp
rename to lidar_situational_graphs/src/g2o/edge_se3_point_to_plane.cpp
diff --git a/s_graphs/src/g2o/edge_se3_priorquat.cpp b/lidar_situational_graphs/src/g2o/edge_se3_priorquat.cpp
similarity index 100%
rename from s_graphs/src/g2o/edge_se3_priorquat.cpp
rename to lidar_situational_graphs/src/g2o/edge_se3_priorquat.cpp
diff --git a/s_graphs/src/g2o/edge_se3_priorvec.cpp b/lidar_situational_graphs/src/g2o/edge_se3_priorvec.cpp
similarity index 100%
rename from s_graphs/src/g2o/edge_se3_priorvec.cpp
rename to lidar_situational_graphs/src/g2o/edge_se3_priorvec.cpp
diff --git a/s_graphs/src/g2o/edge_se3_priorxy.cpp b/lidar_situational_graphs/src/g2o/edge_se3_priorxy.cpp
similarity index 100%
rename from s_graphs/src/g2o/edge_se3_priorxy.cpp
rename to lidar_situational_graphs/src/g2o/edge_se3_priorxy.cpp
diff --git a/s_graphs/src/g2o/edge_se3_priorxyz.cpp b/lidar_situational_graphs/src/g2o/edge_se3_priorxyz.cpp
similarity index 100%
rename from s_graphs/src/g2o/edge_se3_priorxyz.cpp
rename to lidar_situational_graphs/src/g2o/edge_se3_priorxyz.cpp
diff --git a/s_graphs/src/g2o/edge_se3_two_planes.cpp b/lidar_situational_graphs/src/g2o/edge_se3_two_planes.cpp
similarity index 100%
rename from s_graphs/src/g2o/edge_se3_two_planes.cpp
rename to lidar_situational_graphs/src/g2o/edge_se3_two_planes.cpp
diff --git a/s_graphs/src/g2o/edge_se3_two_rooms.cpp b/lidar_situational_graphs/src/g2o/edge_se3_two_rooms.cpp
similarity index 100%
rename from s_graphs/src/g2o/edge_se3_two_rooms.cpp
rename to lidar_situational_graphs/src/g2o/edge_se3_two_rooms.cpp
diff --git a/s_graphs/src/g2o/edge_wall_two_planes.cpp b/lidar_situational_graphs/src/g2o/edge_wall_two_planes.cpp
similarity index 100%
rename from s_graphs/src/g2o/edge_wall_two_planes.cpp
rename to lidar_situational_graphs/src/g2o/edge_wall_two_planes.cpp
diff --git a/s_graphs/src/g2o/robust_kernel_io.cpp b/lidar_situational_graphs/src/g2o/robust_kernel_io.cpp
similarity index 100%
rename from s_graphs/src/g2o/robust_kernel_io.cpp
rename to lidar_situational_graphs/src/g2o/robust_kernel_io.cpp
diff --git a/s_graphs/src/s_graphs/backend/finite_room_mapper.cpp b/lidar_situational_graphs/src/s_graphs/backend/finite_room_mapper.cpp
similarity index 100%
rename from s_graphs/src/s_graphs/backend/finite_room_mapper.cpp
rename to lidar_situational_graphs/src/s_graphs/backend/finite_room_mapper.cpp
diff --git a/s_graphs/src/s_graphs/backend/floor_mapper.cpp b/lidar_situational_graphs/src/s_graphs/backend/floor_mapper.cpp
similarity index 100%
rename from s_graphs/src/s_graphs/backend/floor_mapper.cpp
rename to lidar_situational_graphs/src/s_graphs/backend/floor_mapper.cpp
diff --git a/s_graphs/src/s_graphs/backend/gps_mapper.cpp b/lidar_situational_graphs/src/s_graphs/backend/gps_mapper.cpp
similarity index 100%
rename from s_graphs/src/s_graphs/backend/gps_mapper.cpp
rename to lidar_situational_graphs/src/s_graphs/backend/gps_mapper.cpp
diff --git a/s_graphs/src/s_graphs/backend/graph_slam.cpp b/lidar_situational_graphs/src/s_graphs/backend/graph_slam.cpp
similarity index 100%
rename from s_graphs/src/s_graphs/backend/graph_slam.cpp
rename to lidar_situational_graphs/src/s_graphs/backend/graph_slam.cpp
diff --git a/s_graphs/src/s_graphs/backend/imu_mapper.cpp b/lidar_situational_graphs/src/s_graphs/backend/imu_mapper.cpp
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rename from s_graphs/src/s_graphs/backend/imu_mapper.cpp
rename to lidar_situational_graphs/src/s_graphs/backend/imu_mapper.cpp
diff --git a/s_graphs/src/s_graphs/backend/infinite_room_mapper.cpp b/lidar_situational_graphs/src/s_graphs/backend/infinite_room_mapper.cpp
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rename from s_graphs/src/s_graphs/backend/infinite_room_mapper.cpp
rename to lidar_situational_graphs/src/s_graphs/backend/infinite_room_mapper.cpp
diff --git a/s_graphs/src/s_graphs/backend/keyframe_mapper.cpp b/lidar_situational_graphs/src/s_graphs/backend/keyframe_mapper.cpp
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rename from s_graphs/src/s_graphs/backend/keyframe_mapper.cpp
rename to lidar_situational_graphs/src/s_graphs/backend/keyframe_mapper.cpp
diff --git a/s_graphs/src/s_graphs/backend/loop_mapper.cpp b/lidar_situational_graphs/src/s_graphs/backend/loop_mapper.cpp
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rename from s_graphs/src/s_graphs/backend/loop_mapper.cpp
rename to lidar_situational_graphs/src/s_graphs/backend/loop_mapper.cpp
diff --git a/s_graphs/src/s_graphs/backend/plane_mapper.cpp b/lidar_situational_graphs/src/s_graphs/backend/plane_mapper.cpp
similarity index 100%
rename from s_graphs/src/s_graphs/backend/plane_mapper.cpp
rename to lidar_situational_graphs/src/s_graphs/backend/plane_mapper.cpp
diff --git a/s_graphs/src/s_graphs/backend/room_graph_generator.cpp b/lidar_situational_graphs/src/s_graphs/backend/room_graph_generator.cpp
similarity index 100%
rename from s_graphs/src/s_graphs/backend/room_graph_generator.cpp
rename to lidar_situational_graphs/src/s_graphs/backend/room_graph_generator.cpp
diff --git a/s_graphs/src/s_graphs/backend/wall_mapper.cpp b/lidar_situational_graphs/src/s_graphs/backend/wall_mapper.cpp
similarity index 100%
rename from s_graphs/src/s_graphs/backend/wall_mapper.cpp
rename to lidar_situational_graphs/src/s_graphs/backend/wall_mapper.cpp
diff --git a/s_graphs/src/s_graphs/common/graph_utils.cpp b/lidar_situational_graphs/src/s_graphs/common/graph_utils.cpp
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rename from s_graphs/src/s_graphs/common/graph_utils.cpp
rename to lidar_situational_graphs/src/s_graphs/common/graph_utils.cpp
diff --git a/s_graphs/src/s_graphs/common/information_matrix_calculator.cpp b/lidar_situational_graphs/src/s_graphs/common/information_matrix_calculator.cpp
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rename from s_graphs/src/s_graphs/common/information_matrix_calculator.cpp
rename to lidar_situational_graphs/src/s_graphs/common/information_matrix_calculator.cpp
diff --git a/s_graphs/src/s_graphs/common/keyframe.cpp b/lidar_situational_graphs/src/s_graphs/common/keyframe.cpp
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rename from s_graphs/src/s_graphs/common/keyframe.cpp
rename to lidar_situational_graphs/src/s_graphs/common/keyframe.cpp
diff --git a/s_graphs/src/s_graphs/common/map_cloud_generator.cpp b/lidar_situational_graphs/src/s_graphs/common/map_cloud_generator.cpp
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rename from s_graphs/src/s_graphs/common/map_cloud_generator.cpp
rename to lidar_situational_graphs/src/s_graphs/common/map_cloud_generator.cpp
diff --git a/s_graphs/src/s_graphs/common/plane_utils.cpp b/lidar_situational_graphs/src/s_graphs/common/plane_utils.cpp
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rename from s_graphs/src/s_graphs/common/plane_utils.cpp
rename to lidar_situational_graphs/src/s_graphs/common/plane_utils.cpp
diff --git a/s_graphs/src/s_graphs/common/registrations.cpp b/lidar_situational_graphs/src/s_graphs/common/registrations.cpp
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rename from s_graphs/src/s_graphs/common/registrations.cpp
rename to lidar_situational_graphs/src/s_graphs/common/registrations.cpp
diff --git a/s_graphs/src/s_graphs/common/room_utils.cpp b/lidar_situational_graphs/src/s_graphs/common/room_utils.cpp
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rename from s_graphs/src/s_graphs/common/room_utils.cpp
rename to lidar_situational_graphs/src/s_graphs/common/room_utils.cpp
diff --git a/s_graphs/src/s_graphs/common/ros_utils.cpp b/lidar_situational_graphs/src/s_graphs/common/ros_utils.cpp
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rename from s_graphs/src/s_graphs/common/ros_utils.cpp
rename to lidar_situational_graphs/src/s_graphs/common/ros_utils.cpp
diff --git a/s_graphs/src/s_graphs/frontend/floor_analyzer.cpp b/lidar_situational_graphs/src/s_graphs/frontend/floor_analyzer.cpp
similarity index 100%
rename from s_graphs/src/s_graphs/frontend/floor_analyzer.cpp
rename to lidar_situational_graphs/src/s_graphs/frontend/floor_analyzer.cpp
diff --git a/s_graphs/src/s_graphs/frontend/plane_analyzer.cpp b/lidar_situational_graphs/src/s_graphs/frontend/plane_analyzer.cpp
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rename from s_graphs/src/s_graphs/frontend/plane_analyzer.cpp
rename to lidar_situational_graphs/src/s_graphs/frontend/plane_analyzer.cpp
diff --git a/s_graphs/src/s_graphs/frontend/room_analyzer.cpp b/lidar_situational_graphs/src/s_graphs/frontend/room_analyzer.cpp
similarity index 100%
rename from s_graphs/src/s_graphs/frontend/room_analyzer.cpp
rename to lidar_situational_graphs/src/s_graphs/frontend/room_analyzer.cpp
diff --git a/s_graphs/src/s_graphs/visualization/graph_publisher.cpp b/lidar_situational_graphs/src/s_graphs/visualization/graph_publisher.cpp
similarity index 100%
rename from s_graphs/src/s_graphs/visualization/graph_publisher.cpp
rename to lidar_situational_graphs/src/s_graphs/visualization/graph_publisher.cpp
diff --git a/s_graphs/src/s_graphs/visualization/graph_visualizer.cpp b/lidar_situational_graphs/src/s_graphs/visualization/graph_visualizer.cpp
similarity index 100%
rename from s_graphs/src/s_graphs/visualization/graph_visualizer.cpp
rename to lidar_situational_graphs/src/s_graphs/visualization/graph_visualizer.cpp
diff --git a/s_graphs/test/testPlane.cpp b/lidar_situational_graphs/test/testPlane.cpp
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rename from s_graphs/test/testPlane.cpp
rename to lidar_situational_graphs/test/testPlane.cpp
diff --git a/s_graphs/test/testRoom.cpp b/lidar_situational_graphs/test/testRoom.cpp
similarity index 100%
rename from s_graphs/test/testRoom.cpp
rename to lidar_situational_graphs/test/testRoom.cpp
diff --git a/s_graphs/test/testRoomCentreCompute.cpp b/lidar_situational_graphs/test/testRoomCentreCompute.cpp
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rename from s_graphs/test/testRoomCentreCompute.cpp
rename to lidar_situational_graphs/test/testRoomCentreCompute.cpp