From ce9d9f8dd46de5844e6f4864a25750b18afd4d3b Mon Sep 17 00:00:00 2001 From: Hriday Bavle Date: Mon, 3 Jun 2024 14:36:28 +0200 Subject: [PATCH] [Misc] rename folder to lidar_situational_graphs --- {s_graphs => lidar_situational_graphs}/CMakeLists.txt | 0 {s_graphs => lidar_situational_graphs}/apps/floor_plan_node.cpp | 0 {s_graphs => lidar_situational_graphs}/apps/prefiltering_node.cpp | 0 .../apps/room_segmentation_node.cpp | 0 {s_graphs => lidar_situational_graphs}/apps/s_graphs_node.cpp | 0 .../apps/scan_matching_odometry_node.cpp | 0 {s_graphs => lidar_situational_graphs}/cmake/FindG2O.cmake | 0 {s_graphs => lidar_situational_graphs}/config/prefiltering.yaml | 0 {s_graphs => lidar_situational_graphs}/config/s_graphs.yaml | 0 {s_graphs => lidar_situational_graphs}/config/scan_matching.yaml | 0 .../include/g2o/edge_doorway_two_rooms.hpp | 0 .../include/g2o/edge_infinite_room_plane.hpp | 0 .../include/g2o/edge_loop_closure.hpp | 0 {s_graphs => lidar_situational_graphs}/include/g2o/edge_plane.hpp | 0 .../include/g2o/edge_plane_identity.hpp | 0 .../include/g2o/edge_plane_prior.hpp | 0 {s_graphs => lidar_situational_graphs}/include/g2o/edge_room.hpp | 0 .../include/g2o/edge_se3_plane.hpp | 0 .../include/g2o/edge_se3_point_to_plane.hpp | 0 .../include/g2o/edge_se3_priorquat.hpp | 0 .../include/g2o/edge_se3_priorvec.hpp | 0 .../include/g2o/edge_se3_priorxy.hpp | 0 .../include/g2o/edge_se3_priorxyz.hpp | 0 .../include/g2o/edge_se3_two_planes.hpp | 0 .../include/g2o/edge_se3_two_rooms.hpp | 0 .../include/g2o/edge_wall_two_planes.hpp | 0 .../include/g2o/robust_kernel_io.hpp | 0 .../include/g2o/vertex_deviation.hpp | 0 .../include/g2o/vertex_doorway.hpp | 0 .../include/g2o/vertex_floor.hpp | 0 .../include/g2o/vertex_infinite_room.hpp | 0 .../include/g2o/vertex_room.hpp | 0 .../include/g2o/vertex_wall.hpp | 0 .../include/s_graphs/backend/floor_mapper.hpp | 0 .../include/s_graphs/backend/gps_mapper.hpp | 0 .../include/s_graphs/backend/graph_slam.hpp | 0 .../include/s_graphs/backend/imu_mapper.hpp | 0 .../include/s_graphs/backend/keyframe_mapper.hpp | 0 .../include/s_graphs/backend/loop_mapper.hpp | 0 .../include/s_graphs/backend/plane_mapper.hpp | 0 .../include/s_graphs/backend/room_graph_generator.hpp | 0 .../include/s_graphs/backend/room_mapper.hpp | 0 .../include/s_graphs/backend/wall_mapper.hpp | 0 .../include/s_graphs/common/door_ways.hpp | 0 .../include/s_graphs/common/floors.hpp | 0 .../include/s_graphs/common/graph_utils.hpp | 0 .../include/s_graphs/common/infinite_rooms.hpp | 0 .../include/s_graphs/common/information_matrix_calculator.hpp | 0 .../include/s_graphs/common/keyframe.hpp | 0 .../include/s_graphs/common/map_cloud_generator.hpp | 0 .../include/s_graphs/common/nmea_sentence_parser.hpp | 0 .../include/s_graphs/common/optimization_data.hpp | 0 .../include/s_graphs/common/plane_utils.hpp | 0 .../include/s_graphs/common/planes.hpp | 0 .../include/s_graphs/common/registrations.hpp | 0 .../include/s_graphs/common/room_utils.hpp | 0 .../include/s_graphs/common/rooms.hpp | 0 .../include/s_graphs/common/ros_time_hash.hpp | 0 .../include/s_graphs/common/ros_utils.hpp | 0 .../include/s_graphs/frontend/floor_analyzer.hpp | 0 .../include/s_graphs/frontend/keyframe_updater.hpp | 0 .../include/s_graphs/frontend/loop_detector.hpp | 0 .../include/s_graphs/frontend/plane_analyzer.hpp | 0 .../include/s_graphs/frontend/room_analyzer.hpp | 0 .../include/s_graphs/visualization/graph_publisher.hpp | 0 .../include/s_graphs/visualization/graph_visualizer.hpp | 0 {s_graphs => lidar_situational_graphs}/launch/ros1_tf.launch | 0 {s_graphs => lidar_situational_graphs}/launch/s_graphs_launch.py | 0 .../launch/s_graphs_unitree_launch.py | 0 .../lidar_situational_graphs/__init__.py | 0 .../lidar_situational_graphs/map2odom_publisher.py | 0 {s_graphs => lidar_situational_graphs}/package.xml | 0 {s_graphs => lidar_situational_graphs}/rviz/s_graphs_ros1.rviz | 0 {s_graphs => lidar_situational_graphs}/rviz/s_graphs_ros2.rviz | 0 .../rviz/s_graphs_ros2_robot1.rviz | 0 .../rviz/s_graphs_ros2_robot2.rviz | 0 .../rviz/s_graphs_ros2_robot3.rviz | 0 .../src/g2o/edge_infinite_room_plane.cpp | 0 {s_graphs => lidar_situational_graphs}/src/g2o/edge_plane.cpp | 0 .../src/g2o/edge_plane_identity.cpp | 0 .../src/g2o/edge_plane_prior.cpp | 0 {s_graphs => lidar_situational_graphs}/src/g2o/edge_room.cpp | 0 {s_graphs => lidar_situational_graphs}/src/g2o/edge_se3_plane.cpp | 0 .../src/g2o/edge_se3_point_to_plane.cpp | 0 .../src/g2o/edge_se3_priorquat.cpp | 0 .../src/g2o/edge_se3_priorvec.cpp | 0 .../src/g2o/edge_se3_priorxy.cpp | 0 .../src/g2o/edge_se3_priorxyz.cpp | 0 .../src/g2o/edge_se3_two_planes.cpp | 0 .../src/g2o/edge_se3_two_rooms.cpp | 0 .../src/g2o/edge_wall_two_planes.cpp | 0 .../src/g2o/robust_kernel_io.cpp | 0 .../src/s_graphs/backend/finite_room_mapper.cpp | 0 .../src/s_graphs/backend/floor_mapper.cpp | 0 .../src/s_graphs/backend/gps_mapper.cpp | 0 .../src/s_graphs/backend/graph_slam.cpp | 0 .../src/s_graphs/backend/imu_mapper.cpp | 0 .../src/s_graphs/backend/infinite_room_mapper.cpp | 0 .../src/s_graphs/backend/keyframe_mapper.cpp | 0 .../src/s_graphs/backend/loop_mapper.cpp | 0 .../src/s_graphs/backend/plane_mapper.cpp | 0 .../src/s_graphs/backend/room_graph_generator.cpp | 0 .../src/s_graphs/backend/wall_mapper.cpp | 0 .../src/s_graphs/common/graph_utils.cpp | 0 .../src/s_graphs/common/information_matrix_calculator.cpp | 0 .../src/s_graphs/common/keyframe.cpp | 0 .../src/s_graphs/common/map_cloud_generator.cpp | 0 .../src/s_graphs/common/plane_utils.cpp | 0 .../src/s_graphs/common/registrations.cpp | 0 .../src/s_graphs/common/room_utils.cpp | 0 .../src/s_graphs/common/ros_utils.cpp | 0 .../src/s_graphs/frontend/floor_analyzer.cpp | 0 .../src/s_graphs/frontend/plane_analyzer.cpp | 0 .../src/s_graphs/frontend/room_analyzer.cpp | 0 .../src/s_graphs/visualization/graph_publisher.cpp | 0 .../src/s_graphs/visualization/graph_visualizer.cpp | 0 {s_graphs => lidar_situational_graphs}/test/testPlane.cpp | 0 {s_graphs => lidar_situational_graphs}/test/testRoom.cpp | 0 .../test/testRoomCentreCompute.cpp | 0 119 files changed, 0 insertions(+), 0 deletions(-) rename {s_graphs => lidar_situational_graphs}/CMakeLists.txt (100%) rename {s_graphs => lidar_situational_graphs}/apps/floor_plan_node.cpp (100%) rename {s_graphs => lidar_situational_graphs}/apps/prefiltering_node.cpp (100%) rename {s_graphs => lidar_situational_graphs}/apps/room_segmentation_node.cpp (100%) rename {s_graphs => lidar_situational_graphs}/apps/s_graphs_node.cpp (100%) rename {s_graphs => lidar_situational_graphs}/apps/scan_matching_odometry_node.cpp (100%) rename {s_graphs => lidar_situational_graphs}/cmake/FindG2O.cmake (100%) rename {s_graphs => lidar_situational_graphs}/config/prefiltering.yaml (100%) rename {s_graphs => lidar_situational_graphs}/config/s_graphs.yaml (100%) rename {s_graphs => lidar_situational_graphs}/config/scan_matching.yaml (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_doorway_two_rooms.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_infinite_room_plane.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_loop_closure.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_plane.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_plane_identity.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_plane_prior.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_room.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_se3_plane.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_se3_point_to_plane.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_se3_priorquat.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_se3_priorvec.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_se3_priorxy.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_se3_priorxyz.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_se3_two_planes.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_se3_two_rooms.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/edge_wall_two_planes.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/robust_kernel_io.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/vertex_deviation.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/vertex_doorway.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/vertex_floor.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/vertex_infinite_room.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/vertex_room.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/g2o/vertex_wall.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/backend/floor_mapper.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/backend/gps_mapper.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/backend/graph_slam.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/backend/imu_mapper.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/backend/keyframe_mapper.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/backend/loop_mapper.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/backend/plane_mapper.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/backend/room_graph_generator.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/backend/room_mapper.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/backend/wall_mapper.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/door_ways.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/floors.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/graph_utils.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/infinite_rooms.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/information_matrix_calculator.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/keyframe.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/map_cloud_generator.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/nmea_sentence_parser.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/optimization_data.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/plane_utils.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/planes.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/registrations.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/room_utils.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/rooms.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/ros_time_hash.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/common/ros_utils.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/frontend/floor_analyzer.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/frontend/keyframe_updater.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/frontend/loop_detector.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/frontend/plane_analyzer.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/frontend/room_analyzer.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/visualization/graph_publisher.hpp (100%) rename {s_graphs => lidar_situational_graphs}/include/s_graphs/visualization/graph_visualizer.hpp (100%) rename {s_graphs => lidar_situational_graphs}/launch/ros1_tf.launch (100%) rename {s_graphs => lidar_situational_graphs}/launch/s_graphs_launch.py (100%) rename {s_graphs => lidar_situational_graphs}/launch/s_graphs_unitree_launch.py (100%) rename {s_graphs => lidar_situational_graphs}/lidar_situational_graphs/__init__.py (100%) rename {s_graphs => lidar_situational_graphs}/lidar_situational_graphs/map2odom_publisher.py (100%) rename {s_graphs => lidar_situational_graphs}/package.xml (100%) rename {s_graphs => lidar_situational_graphs}/rviz/s_graphs_ros1.rviz (100%) rename {s_graphs => 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lidar_situational_graphs}/src/g2o/edge_se3_priorvec.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/g2o/edge_se3_priorxy.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/g2o/edge_se3_priorxyz.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/g2o/edge_se3_two_planes.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/g2o/edge_se3_two_rooms.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/g2o/edge_wall_two_planes.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/g2o/robust_kernel_io.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/backend/finite_room_mapper.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/backend/floor_mapper.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/backend/gps_mapper.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/backend/graph_slam.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/backend/imu_mapper.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/backend/infinite_room_mapper.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/backend/keyframe_mapper.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/backend/loop_mapper.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/backend/plane_mapper.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/backend/room_graph_generator.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/backend/wall_mapper.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/common/graph_utils.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/common/information_matrix_calculator.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/common/keyframe.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/common/map_cloud_generator.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/common/plane_utils.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/common/registrations.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/common/room_utils.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/common/ros_utils.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/frontend/floor_analyzer.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/frontend/plane_analyzer.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/frontend/room_analyzer.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/visualization/graph_publisher.cpp (100%) rename {s_graphs => lidar_situational_graphs}/src/s_graphs/visualization/graph_visualizer.cpp (100%) rename {s_graphs => lidar_situational_graphs}/test/testPlane.cpp (100%) rename {s_graphs => lidar_situational_graphs}/test/testRoom.cpp (100%) rename {s_graphs => lidar_situational_graphs}/test/testRoomCentreCompute.cpp (100%) diff --git a/s_graphs/CMakeLists.txt b/lidar_situational_graphs/CMakeLists.txt similarity index 100% rename from s_graphs/CMakeLists.txt rename to lidar_situational_graphs/CMakeLists.txt diff --git a/s_graphs/apps/floor_plan_node.cpp b/lidar_situational_graphs/apps/floor_plan_node.cpp similarity index 100% rename from s_graphs/apps/floor_plan_node.cpp rename to lidar_situational_graphs/apps/floor_plan_node.cpp diff --git a/s_graphs/apps/prefiltering_node.cpp b/lidar_situational_graphs/apps/prefiltering_node.cpp similarity index 100% rename from s_graphs/apps/prefiltering_node.cpp rename to lidar_situational_graphs/apps/prefiltering_node.cpp diff --git a/s_graphs/apps/room_segmentation_node.cpp b/lidar_situational_graphs/apps/room_segmentation_node.cpp similarity index 100% rename from s_graphs/apps/room_segmentation_node.cpp rename to lidar_situational_graphs/apps/room_segmentation_node.cpp diff --git a/s_graphs/apps/s_graphs_node.cpp b/lidar_situational_graphs/apps/s_graphs_node.cpp similarity index 100% rename from s_graphs/apps/s_graphs_node.cpp rename to lidar_situational_graphs/apps/s_graphs_node.cpp diff --git a/s_graphs/apps/scan_matching_odometry_node.cpp b/lidar_situational_graphs/apps/scan_matching_odometry_node.cpp similarity index 100% rename from s_graphs/apps/scan_matching_odometry_node.cpp rename to lidar_situational_graphs/apps/scan_matching_odometry_node.cpp diff --git a/s_graphs/cmake/FindG2O.cmake b/lidar_situational_graphs/cmake/FindG2O.cmake similarity index 100% rename from s_graphs/cmake/FindG2O.cmake rename to lidar_situational_graphs/cmake/FindG2O.cmake diff --git a/s_graphs/config/prefiltering.yaml b/lidar_situational_graphs/config/prefiltering.yaml similarity index 100% rename from s_graphs/config/prefiltering.yaml rename to lidar_situational_graphs/config/prefiltering.yaml diff --git a/s_graphs/config/s_graphs.yaml b/lidar_situational_graphs/config/s_graphs.yaml similarity index 100% rename from s_graphs/config/s_graphs.yaml rename to lidar_situational_graphs/config/s_graphs.yaml diff --git a/s_graphs/config/scan_matching.yaml b/lidar_situational_graphs/config/scan_matching.yaml similarity index 100% rename from s_graphs/config/scan_matching.yaml rename to lidar_situational_graphs/config/scan_matching.yaml diff --git a/s_graphs/include/g2o/edge_doorway_two_rooms.hpp b/lidar_situational_graphs/include/g2o/edge_doorway_two_rooms.hpp similarity index 100% rename from s_graphs/include/g2o/edge_doorway_two_rooms.hpp rename to lidar_situational_graphs/include/g2o/edge_doorway_two_rooms.hpp diff --git a/s_graphs/include/g2o/edge_infinite_room_plane.hpp b/lidar_situational_graphs/include/g2o/edge_infinite_room_plane.hpp similarity index 100% rename from s_graphs/include/g2o/edge_infinite_room_plane.hpp rename to lidar_situational_graphs/include/g2o/edge_infinite_room_plane.hpp diff --git a/s_graphs/include/g2o/edge_loop_closure.hpp b/lidar_situational_graphs/include/g2o/edge_loop_closure.hpp similarity index 100% rename from s_graphs/include/g2o/edge_loop_closure.hpp rename to lidar_situational_graphs/include/g2o/edge_loop_closure.hpp diff --git a/s_graphs/include/g2o/edge_plane.hpp b/lidar_situational_graphs/include/g2o/edge_plane.hpp similarity index 100% rename from s_graphs/include/g2o/edge_plane.hpp rename to lidar_situational_graphs/include/g2o/edge_plane.hpp diff --git a/s_graphs/include/g2o/edge_plane_identity.hpp b/lidar_situational_graphs/include/g2o/edge_plane_identity.hpp similarity index 100% rename from s_graphs/include/g2o/edge_plane_identity.hpp rename to lidar_situational_graphs/include/g2o/edge_plane_identity.hpp diff --git a/s_graphs/include/g2o/edge_plane_prior.hpp b/lidar_situational_graphs/include/g2o/edge_plane_prior.hpp similarity index 100% rename from s_graphs/include/g2o/edge_plane_prior.hpp rename to lidar_situational_graphs/include/g2o/edge_plane_prior.hpp diff --git a/s_graphs/include/g2o/edge_room.hpp b/lidar_situational_graphs/include/g2o/edge_room.hpp similarity index 100% rename from s_graphs/include/g2o/edge_room.hpp rename to lidar_situational_graphs/include/g2o/edge_room.hpp diff --git a/s_graphs/include/g2o/edge_se3_plane.hpp b/lidar_situational_graphs/include/g2o/edge_se3_plane.hpp similarity index 100% rename from s_graphs/include/g2o/edge_se3_plane.hpp rename to lidar_situational_graphs/include/g2o/edge_se3_plane.hpp 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 similarity index 100% rename from s_graphs/include/g2o/edge_se3_point_to_plane.hpp rename to lidar_situational_graphs/include/g2o/edge_se3_point_to_plane.hpp diff --git a/s_graphs/include/g2o/edge_se3_priorquat.hpp b/lidar_situational_graphs/include/g2o/edge_se3_priorquat.hpp similarity index 100% rename from s_graphs/include/g2o/edge_se3_priorquat.hpp rename to lidar_situational_graphs/include/g2o/edge_se3_priorquat.hpp diff --git a/s_graphs/include/g2o/edge_se3_priorvec.hpp b/lidar_situational_graphs/include/g2o/edge_se3_priorvec.hpp similarity index 100% rename from s_graphs/include/g2o/edge_se3_priorvec.hpp rename to lidar_situational_graphs/include/g2o/edge_se3_priorvec.hpp diff --git a/s_graphs/include/g2o/edge_se3_priorxy.hpp b/lidar_situational_graphs/include/g2o/edge_se3_priorxy.hpp similarity index 100% rename from s_graphs/include/g2o/edge_se3_priorxy.hpp rename to lidar_situational_graphs/include/g2o/edge_se3_priorxy.hpp diff --git a/s_graphs/include/g2o/edge_se3_priorxyz.hpp b/lidar_situational_graphs/include/g2o/edge_se3_priorxyz.hpp similarity index 100% rename from s_graphs/include/g2o/edge_se3_priorxyz.hpp rename to lidar_situational_graphs/include/g2o/edge_se3_priorxyz.hpp diff --git a/s_graphs/include/g2o/edge_se3_two_planes.hpp b/lidar_situational_graphs/include/g2o/edge_se3_two_planes.hpp similarity index 100% rename from s_graphs/include/g2o/edge_se3_two_planes.hpp rename to lidar_situational_graphs/include/g2o/edge_se3_two_planes.hpp diff --git a/s_graphs/include/g2o/edge_se3_two_rooms.hpp b/lidar_situational_graphs/include/g2o/edge_se3_two_rooms.hpp similarity index 100% rename from s_graphs/include/g2o/edge_se3_two_rooms.hpp rename to lidar_situational_graphs/include/g2o/edge_se3_two_rooms.hpp diff --git a/s_graphs/include/g2o/edge_wall_two_planes.hpp b/lidar_situational_graphs/include/g2o/edge_wall_two_planes.hpp similarity index 100% rename from s_graphs/include/g2o/edge_wall_two_planes.hpp rename to lidar_situational_graphs/include/g2o/edge_wall_two_planes.hpp diff --git a/s_graphs/include/g2o/robust_kernel_io.hpp b/lidar_situational_graphs/include/g2o/robust_kernel_io.hpp similarity index 100% rename from s_graphs/include/g2o/robust_kernel_io.hpp rename to lidar_situational_graphs/include/g2o/robust_kernel_io.hpp diff --git a/s_graphs/include/g2o/vertex_deviation.hpp b/lidar_situational_graphs/include/g2o/vertex_deviation.hpp similarity index 100% rename from s_graphs/include/g2o/vertex_deviation.hpp rename to lidar_situational_graphs/include/g2o/vertex_deviation.hpp diff --git a/s_graphs/include/g2o/vertex_doorway.hpp b/lidar_situational_graphs/include/g2o/vertex_doorway.hpp similarity index 100% rename from s_graphs/include/g2o/vertex_doorway.hpp rename to lidar_situational_graphs/include/g2o/vertex_doorway.hpp diff --git a/s_graphs/include/g2o/vertex_floor.hpp b/lidar_situational_graphs/include/g2o/vertex_floor.hpp similarity index 100% rename from s_graphs/include/g2o/vertex_floor.hpp rename to lidar_situational_graphs/include/g2o/vertex_floor.hpp diff --git a/s_graphs/include/g2o/vertex_infinite_room.hpp b/lidar_situational_graphs/include/g2o/vertex_infinite_room.hpp similarity index 100% rename from s_graphs/include/g2o/vertex_infinite_room.hpp rename to lidar_situational_graphs/include/g2o/vertex_infinite_room.hpp diff --git a/s_graphs/include/g2o/vertex_room.hpp b/lidar_situational_graphs/include/g2o/vertex_room.hpp similarity index 100% rename from s_graphs/include/g2o/vertex_room.hpp rename to lidar_situational_graphs/include/g2o/vertex_room.hpp diff --git a/s_graphs/include/g2o/vertex_wall.hpp b/lidar_situational_graphs/include/g2o/vertex_wall.hpp similarity index 100% rename from s_graphs/include/g2o/vertex_wall.hpp rename to lidar_situational_graphs/include/g2o/vertex_wall.hpp diff --git a/s_graphs/include/s_graphs/backend/floor_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/floor_mapper.hpp similarity index 100% rename from s_graphs/include/s_graphs/backend/floor_mapper.hpp rename to lidar_situational_graphs/include/s_graphs/backend/floor_mapper.hpp diff --git a/s_graphs/include/s_graphs/backend/gps_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/gps_mapper.hpp similarity index 100% rename from s_graphs/include/s_graphs/backend/gps_mapper.hpp rename to lidar_situational_graphs/include/s_graphs/backend/gps_mapper.hpp diff --git a/s_graphs/include/s_graphs/backend/graph_slam.hpp b/lidar_situational_graphs/include/s_graphs/backend/graph_slam.hpp similarity index 100% rename from s_graphs/include/s_graphs/backend/graph_slam.hpp rename to lidar_situational_graphs/include/s_graphs/backend/graph_slam.hpp diff --git a/s_graphs/include/s_graphs/backend/imu_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/imu_mapper.hpp similarity index 100% rename from s_graphs/include/s_graphs/backend/imu_mapper.hpp rename to lidar_situational_graphs/include/s_graphs/backend/imu_mapper.hpp diff --git a/s_graphs/include/s_graphs/backend/keyframe_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/keyframe_mapper.hpp similarity index 100% rename from s_graphs/include/s_graphs/backend/keyframe_mapper.hpp rename to lidar_situational_graphs/include/s_graphs/backend/keyframe_mapper.hpp diff --git a/s_graphs/include/s_graphs/backend/loop_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/loop_mapper.hpp similarity index 100% rename from s_graphs/include/s_graphs/backend/loop_mapper.hpp rename to lidar_situational_graphs/include/s_graphs/backend/loop_mapper.hpp diff --git a/s_graphs/include/s_graphs/backend/plane_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/plane_mapper.hpp similarity index 100% rename from s_graphs/include/s_graphs/backend/plane_mapper.hpp rename to lidar_situational_graphs/include/s_graphs/backend/plane_mapper.hpp 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 similarity index 100% rename from s_graphs/include/s_graphs/backend/room_graph_generator.hpp rename to lidar_situational_graphs/include/s_graphs/backend/room_graph_generator.hpp diff --git a/s_graphs/include/s_graphs/backend/room_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/room_mapper.hpp similarity index 100% rename from s_graphs/include/s_graphs/backend/room_mapper.hpp rename to lidar_situational_graphs/include/s_graphs/backend/room_mapper.hpp diff --git a/s_graphs/include/s_graphs/backend/wall_mapper.hpp b/lidar_situational_graphs/include/s_graphs/backend/wall_mapper.hpp similarity index 100% rename from s_graphs/include/s_graphs/backend/wall_mapper.hpp rename to lidar_situational_graphs/include/s_graphs/backend/wall_mapper.hpp diff --git a/s_graphs/include/s_graphs/common/door_ways.hpp b/lidar_situational_graphs/include/s_graphs/common/door_ways.hpp similarity index 100% rename from s_graphs/include/s_graphs/common/door_ways.hpp rename to lidar_situational_graphs/include/s_graphs/common/door_ways.hpp diff --git a/s_graphs/include/s_graphs/common/floors.hpp b/lidar_situational_graphs/include/s_graphs/common/floors.hpp similarity index 100% rename from s_graphs/include/s_graphs/common/floors.hpp rename to lidar_situational_graphs/include/s_graphs/common/floors.hpp diff --git a/s_graphs/include/s_graphs/common/graph_utils.hpp b/lidar_situational_graphs/include/s_graphs/common/graph_utils.hpp similarity index 100% rename from s_graphs/include/s_graphs/common/graph_utils.hpp rename to lidar_situational_graphs/include/s_graphs/common/graph_utils.hpp diff --git a/s_graphs/include/s_graphs/common/infinite_rooms.hpp b/lidar_situational_graphs/include/s_graphs/common/infinite_rooms.hpp similarity index 100% rename from s_graphs/include/s_graphs/common/infinite_rooms.hpp rename to lidar_situational_graphs/include/s_graphs/common/infinite_rooms.hpp 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 similarity index 100% rename from s_graphs/include/s_graphs/common/information_matrix_calculator.hpp rename to lidar_situational_graphs/include/s_graphs/common/information_matrix_calculator.hpp diff --git a/s_graphs/include/s_graphs/common/keyframe.hpp b/lidar_situational_graphs/include/s_graphs/common/keyframe.hpp similarity index 100% rename from s_graphs/include/s_graphs/common/keyframe.hpp rename to lidar_situational_graphs/include/s_graphs/common/keyframe.hpp 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 similarity index 100% rename from s_graphs/include/s_graphs/common/map_cloud_generator.hpp rename to lidar_situational_graphs/include/s_graphs/common/map_cloud_generator.hpp 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 similarity index 100% rename from s_graphs/include/s_graphs/common/nmea_sentence_parser.hpp rename to lidar_situational_graphs/include/s_graphs/common/nmea_sentence_parser.hpp diff --git a/s_graphs/include/s_graphs/common/optimization_data.hpp b/lidar_situational_graphs/include/s_graphs/common/optimization_data.hpp similarity index 100% rename from s_graphs/include/s_graphs/common/optimization_data.hpp rename to lidar_situational_graphs/include/s_graphs/common/optimization_data.hpp diff --git a/s_graphs/include/s_graphs/common/plane_utils.hpp b/lidar_situational_graphs/include/s_graphs/common/plane_utils.hpp similarity index 100% rename from s_graphs/include/s_graphs/common/plane_utils.hpp rename to lidar_situational_graphs/include/s_graphs/common/plane_utils.hpp diff --git a/s_graphs/include/s_graphs/common/planes.hpp b/lidar_situational_graphs/include/s_graphs/common/planes.hpp similarity index 100% rename from s_graphs/include/s_graphs/common/planes.hpp rename to lidar_situational_graphs/include/s_graphs/common/planes.hpp diff --git a/s_graphs/include/s_graphs/common/registrations.hpp b/lidar_situational_graphs/include/s_graphs/common/registrations.hpp similarity index 100% rename from s_graphs/include/s_graphs/common/registrations.hpp rename to lidar_situational_graphs/include/s_graphs/common/registrations.hpp diff --git a/s_graphs/include/s_graphs/common/room_utils.hpp b/lidar_situational_graphs/include/s_graphs/common/room_utils.hpp similarity index 100% rename from s_graphs/include/s_graphs/common/room_utils.hpp rename to lidar_situational_graphs/include/s_graphs/common/room_utils.hpp diff --git a/s_graphs/include/s_graphs/common/rooms.hpp b/lidar_situational_graphs/include/s_graphs/common/rooms.hpp similarity index 100% rename from s_graphs/include/s_graphs/common/rooms.hpp rename to lidar_situational_graphs/include/s_graphs/common/rooms.hpp 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 similarity index 100% rename from s_graphs/include/s_graphs/common/ros_time_hash.hpp rename to lidar_situational_graphs/include/s_graphs/common/ros_time_hash.hpp diff --git a/s_graphs/include/s_graphs/common/ros_utils.hpp b/lidar_situational_graphs/include/s_graphs/common/ros_utils.hpp similarity index 100% rename from s_graphs/include/s_graphs/common/ros_utils.hpp rename to lidar_situational_graphs/include/s_graphs/common/ros_utils.hpp diff --git a/s_graphs/include/s_graphs/frontend/floor_analyzer.hpp b/lidar_situational_graphs/include/s_graphs/frontend/floor_analyzer.hpp similarity index 100% rename from s_graphs/include/s_graphs/frontend/floor_analyzer.hpp rename to lidar_situational_graphs/include/s_graphs/frontend/floor_analyzer.hpp diff --git a/s_graphs/include/s_graphs/frontend/keyframe_updater.hpp b/lidar_situational_graphs/include/s_graphs/frontend/keyframe_updater.hpp similarity index 100% rename from s_graphs/include/s_graphs/frontend/keyframe_updater.hpp rename to lidar_situational_graphs/include/s_graphs/frontend/keyframe_updater.hpp diff --git a/s_graphs/include/s_graphs/frontend/loop_detector.hpp b/lidar_situational_graphs/include/s_graphs/frontend/loop_detector.hpp similarity index 100% rename from s_graphs/include/s_graphs/frontend/loop_detector.hpp rename to lidar_situational_graphs/include/s_graphs/frontend/loop_detector.hpp diff --git a/s_graphs/include/s_graphs/frontend/plane_analyzer.hpp b/lidar_situational_graphs/include/s_graphs/frontend/plane_analyzer.hpp similarity index 100% rename from s_graphs/include/s_graphs/frontend/plane_analyzer.hpp rename to lidar_situational_graphs/include/s_graphs/frontend/plane_analyzer.hpp diff --git a/s_graphs/include/s_graphs/frontend/room_analyzer.hpp b/lidar_situational_graphs/include/s_graphs/frontend/room_analyzer.hpp similarity index 100% rename from s_graphs/include/s_graphs/frontend/room_analyzer.hpp rename to lidar_situational_graphs/include/s_graphs/frontend/room_analyzer.hpp diff --git a/s_graphs/include/s_graphs/visualization/graph_publisher.hpp b/lidar_situational_graphs/include/s_graphs/visualization/graph_publisher.hpp similarity index 100% rename from s_graphs/include/s_graphs/visualization/graph_publisher.hpp rename to lidar_situational_graphs/include/s_graphs/visualization/graph_publisher.hpp diff --git a/s_graphs/include/s_graphs/visualization/graph_visualizer.hpp b/lidar_situational_graphs/include/s_graphs/visualization/graph_visualizer.hpp similarity index 100% rename from s_graphs/include/s_graphs/visualization/graph_visualizer.hpp rename to lidar_situational_graphs/include/s_graphs/visualization/graph_visualizer.hpp diff --git a/s_graphs/launch/ros1_tf.launch b/lidar_situational_graphs/launch/ros1_tf.launch similarity index 100% rename from s_graphs/launch/ros1_tf.launch rename to lidar_situational_graphs/launch/ros1_tf.launch diff --git a/s_graphs/launch/s_graphs_launch.py b/lidar_situational_graphs/launch/s_graphs_launch.py similarity index 100% rename from s_graphs/launch/s_graphs_launch.py rename to lidar_situational_graphs/launch/s_graphs_launch.py diff --git a/s_graphs/launch/s_graphs_unitree_launch.py b/lidar_situational_graphs/launch/s_graphs_unitree_launch.py similarity index 100% rename from s_graphs/launch/s_graphs_unitree_launch.py rename to lidar_situational_graphs/launch/s_graphs_unitree_launch.py diff --git a/s_graphs/lidar_situational_graphs/__init__.py b/lidar_situational_graphs/lidar_situational_graphs/__init__.py similarity index 100% rename from s_graphs/lidar_situational_graphs/__init__.py rename to lidar_situational_graphs/lidar_situational_graphs/__init__.py diff --git a/s_graphs/lidar_situational_graphs/map2odom_publisher.py b/lidar_situational_graphs/lidar_situational_graphs/map2odom_publisher.py similarity index 100% rename from s_graphs/lidar_situational_graphs/map2odom_publisher.py rename to lidar_situational_graphs/lidar_situational_graphs/map2odom_publisher.py diff --git a/s_graphs/package.xml b/lidar_situational_graphs/package.xml similarity index 100% rename from s_graphs/package.xml rename to lidar_situational_graphs/package.xml diff --git a/s_graphs/rviz/s_graphs_ros1.rviz b/lidar_situational_graphs/rviz/s_graphs_ros1.rviz similarity index 100% rename from s_graphs/rviz/s_graphs_ros1.rviz rename to lidar_situational_graphs/rviz/s_graphs_ros1.rviz diff --git a/s_graphs/rviz/s_graphs_ros2.rviz b/lidar_situational_graphs/rviz/s_graphs_ros2.rviz similarity index 100% rename from s_graphs/rviz/s_graphs_ros2.rviz rename to lidar_situational_graphs/rviz/s_graphs_ros2.rviz diff --git a/s_graphs/rviz/s_graphs_ros2_robot1.rviz b/lidar_situational_graphs/rviz/s_graphs_ros2_robot1.rviz similarity index 100% rename from s_graphs/rviz/s_graphs_ros2_robot1.rviz rename to lidar_situational_graphs/rviz/s_graphs_ros2_robot1.rviz diff --git a/s_graphs/rviz/s_graphs_ros2_robot2.rviz b/lidar_situational_graphs/rviz/s_graphs_ros2_robot2.rviz similarity index 100% rename from s_graphs/rviz/s_graphs_ros2_robot2.rviz rename to lidar_situational_graphs/rviz/s_graphs_ros2_robot2.rviz diff --git a/s_graphs/rviz/s_graphs_ros2_robot3.rviz b/lidar_situational_graphs/rviz/s_graphs_ros2_robot3.rviz similarity index 100% rename from s_graphs/rviz/s_graphs_ros2_robot3.rviz rename to lidar_situational_graphs/rviz/s_graphs_ros2_robot3.rviz diff --git a/s_graphs/src/g2o/edge_infinite_room_plane.cpp b/lidar_situational_graphs/src/g2o/edge_infinite_room_plane.cpp similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% 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 similarity index 100% rename from s_graphs/test/testRoomCentreCompute.cpp rename to lidar_situational_graphs/test/testRoomCentreCompute.cpp