diff --git a/.gitignore b/.gitignore
index 01f5311..e86d90d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -36,11 +36,11 @@ nosetests.xml
.pydevproject
#Specific ignores for nao_robot
-naoqi_msgs/src
+naoqi_bridge_msgs/src
msg_gen
srv_gen
# Actionlib:
-naoqi_msgs/msg/*Action.msg
-naoqi_msgs/msg/*Feedback.msg
-naoqi_msgs/msg/*Goal.msg
-naoqi_msgs/msg/*Result.msg
+naoqi_bridge_msgs/msg/*Action.msg
+naoqi_bridge_msgs/msg/*Feedback.msg
+naoqi_bridge_msgs/msg/*Goal.msg
+naoqi_bridge_msgs/msg/*Result.msg
diff --git a/naoqi_bridge/package.xml b/naoqi_bridge/package.xml
index 0b1729f..737d121 100644
--- a/naoqi_bridge/package.xml
+++ b/naoqi_bridge/package.xml
@@ -10,9 +10,9 @@
catkin
- naoqi_driver
- naoqi_msgs
- naoqi_sensors
+ naoqi_driver_py
+ naoqi_bridge_msgs
+ naoqi_sensors_py
diff --git a/naoqi_driver_py/CMakeLists.txt b/naoqi_driver_py/CMakeLists.txt
index 1634310..5b7d97e 100644
--- a/naoqi_driver_py/CMakeLists.txt
+++ b/naoqi_driver_py/CMakeLists.txt
@@ -9,7 +9,7 @@ find_package(catkin REQUIRED COMPONENTS
tf
sensor_msgs
geometry_msgs
- naoqi_msgs
+ naoqi_bridge_msgs
dynamic_reconfigure
diagnostic_aggregator
diagnostic_msgs)
diff --git a/naoqi_driver_py/launch/naoqi_driver.launch b/naoqi_driver_py/launch/naoqi_driver.launch
index 04e27cb..93823dc 100644
--- a/naoqi_driver_py/launch/naoqi_driver.launch
+++ b/naoqi_driver_py/launch/naoqi_driver.launch
@@ -16,9 +16,9 @@
-
+
-
-
+
+
diff --git a/naoqi_driver_py/package.xml b/naoqi_driver_py/package.xml
index b29500c..d89b6fc 100644
--- a/naoqi_driver_py/package.xml
+++ b/naoqi_driver_py/package.xml
@@ -35,7 +35,7 @@
diagnostic_msgs
dynamic_reconfigure
geometry_msgs
- naoqi_msgs
+ naoqi_bridge_msgs
pluginlib
sensor_msgs
nav_msgs
@@ -51,7 +51,7 @@
geometry_msgs
sensor_msgs
diagnostic_msgs
- naoqi_msgs
+ naoqi_bridge_msgs
pluginlib
humanoid_nav_msgs
nav_msgs
diff --git a/naoqi_driver_py/scripts/test_joint_angles.py b/naoqi_driver_py/scripts/test_joint_angles.py
index 9f065e9..97205ce 100755
--- a/naoqi_driver_py/scripts/test_joint_angles.py
+++ b/naoqi_driver_py/scripts/test_joint_angles.py
@@ -9,7 +9,7 @@
import actionlib
from actionlib_msgs.msg import GoalStatus
-import naoqi_msgs.msg
+import naoqi_bridge_msgs.msg
import trajectory_msgs.msg
from trajectory_msgs.msg import JointTrajectoryPoint
import std_srvs.srv
@@ -19,9 +19,9 @@ def joint_angle_client():
#inhibitWalkSrv = rospy.ServiceProxy("inhibit_walk", std_srvs.srv.Empty)
#uninhibitWalkSrv = rospy.ServiceProxy("uninhibit_walk", std_srvs.srv.Empty)
- client = actionlib.SimpleActionClient("joint_trajectory", naoqi_msgs.msg.JointTrajectoryAction)
- stiffness_client = actionlib.SimpleActionClient("joint_stiffness_trajectory", naoqi_msgs.msg.JointTrajectoryAction)
- angle_client = actionlib.SimpleActionClient("joint_angles_action", naoqi_msgs.msg.JointAnglesWithSpeedAction)
+ client = actionlib.SimpleActionClient("joint_trajectory", naoqi_bridge_msgs.msg.JointTrajectoryAction)
+ stiffness_client = actionlib.SimpleActionClient("joint_stiffness_trajectory", naoqi_bridge_msgs.msg.JointTrajectoryAction)
+ angle_client = actionlib.SimpleActionClient("joint_angles_action", naoqi_bridge_msgs.msg.JointAnglesWithSpeedAction)
rospy.loginfo("Waiting for joint_trajectory and joint_stiffness servers...")
client.wait_for_server()
@@ -31,7 +31,7 @@ def joint_angle_client():
#inhibitWalkSrv()
try:
- goal = naoqi_msgs.msg.JointTrajectoryGoal()
+ goal = naoqi_bridge_msgs.msg.JointTrajectoryGoal()
# move head: single joint, multiple keypoints
goal.trajectory.joint_names = ["HeadYaw"]
@@ -110,7 +110,7 @@ def joint_angle_client():
# Control of joints with relative speed
- angle_goal = naoqi_msgs.msg.JointAnglesWithSpeedGoal()
+ angle_goal = naoqi_bridge_msgs.msg.JointAnglesWithSpeedGoal()
angle_goal.joint_angles.relative = False
angle_goal.joint_angles.joint_names = ["HeadYaw", "HeadPitch"]
angle_goal.joint_angles.joint_angles = [1.0, 0.0]
@@ -135,7 +135,7 @@ def joint_angle_client():
rospy.loginfo("Preemption seems okay")
# Test stiffness actionlib
- stiffness_goal = naoqi_msgs.msg.JointTrajectoryGoal()
+ stiffness_goal = naoqi_bridge_msgs.msg.JointTrajectoryGoal()
stiffness_goal.trajectory.joint_names = ["Body"]
stiffness_goal.trajectory.points.append(JointTrajectoryPoint(time_from_start = Duration(0.5), positions = [1.0]))
rospy.loginfo("Sending stiffness goal...")
diff --git a/naoqi_msgs/CHANGELOG.rst b/naoqi_msgs/CHANGELOG.rst
deleted file mode 100644
index a27b34c..0000000
--- a/naoqi_msgs/CHANGELOG.rst
+++ /dev/null
@@ -1,45 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package naoqi_msgs
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.4.8 (2015-06-25)
-------------------
-
-0.4.7 (2015-03-30)
-------------------
-
-0.4.6 (2015-02-27)
-------------------
-* update repo links in package.xml
-* Contributors: Mikael Arguedas
-
-0.4.5 (2015-02-11)
-------------------
-
-0.4.4 (2015-01-16)
-------------------
-
-0.4.3 (2014-12-14)
-------------------
-* get the packages to actually conflict with the old versions (nao*)
- The replace tag does not provide a way to uninstall the packages.
- Its use case is different.
-* Contributors: Vincent Rabaud
-
-0.4.2 (2014-11-26)
-------------------
-* update changelogs
-* Contributors: Vincent Rabaud
-
-0.4.1 (2014-11-13)
-------------------
-* fixing imports on microphone sensor
-* fixing imports on microphone sensor
-* Contributors: Karsten Knese
-
-0.4.0 (2014-11-06)
-------------------
-* introduce replace tag in package.xml
-* naoqi_msgs transfer
-* renamed subfolders for naoqi_*
-* Contributors: Karsten Knese
diff --git a/naoqi_msgs/CMakeLists.txt b/naoqi_msgs/CMakeLists.txt
deleted file mode 100644
index f6732a7..0000000
--- a/naoqi_msgs/CMakeLists.txt
+++ /dev/null
@@ -1,61 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(naoqi_msgs)
-
-#List to make rest of code more readable
-set( MESSAGE_DEPENDENCIES
- std_msgs
- actionlib_msgs
- geometry_msgs
- sensor_msgs
- nav_msgs
- trajectory_msgs)
-
-#Declare build dependencies
-find_package(catkin REQUIRED
- COMPONENTS
- message_generation
- ${MESSAGE_DEPENDENCIES} )
-
-#Add message files
-add_message_files(DIRECTORY msg
- FILES
- AudioBuffer.msg
- Bumper.msg
- FadeRGB.msg
- JointAnglesWithSpeed.msg
- JointAngleTrajectory.msg
- TactileTouch.msg
- WordRecognized.msg
-)
-
-#Add service files
-add_service_files(DIRECTORY srv
- FILES
- CmdPoseService.srv
- CmdVelService.srv
- GetInstalledBehaviors.srv
- GetTruepose.srv
- SetTransform.srv
- SetArmsEnabled.srv
-)
-
-#Add action files
-add_action_files(DIRECTORY action
- FILES
- Blink.action
- BodyPose.action
- BodyPoseWithSpeed.action
- FollowPath.action
- JointAnglesWithSpeed.action
- JointTrajectory.action
- RunBehavior.action
- SetSpeechVocabulary.action
- SpeechWithFeedback.action
-)
-
-#And now generate the messages
-generate_messages(DEPENDENCIES ${MESSAGE_DEPENDENCIES})
-
-#Declare package run-time dependencies
-catkin_package( CATKIN_DEPENDS message_runtime ${MESSAGE_DEPENDENCIES})
-
diff --git a/naoqi_msgs/action/Blink.action b/naoqi_msgs/action/Blink.action
deleted file mode 100644
index 9e9028d..0000000
--- a/naoqi_msgs/action/Blink.action
+++ /dev/null
@@ -1,12 +0,0 @@
-# Goal: colours to use for blinking, plus blinking rate mean and sd
-# Result: true if robot is still blinking (call was pre-empted by another user)
-# Feedback: last blinked colour
-std_msgs/ColorRGBA[] colors
-std_msgs/ColorRGBA bg_color
-duration blink_duration
-float32 blink_rate_mean
-float32 blink_rate_sd
----
-bool still_blinking
----
-std_msgs/ColorRGBA last_color
diff --git a/naoqi_msgs/action/BodyPose.action b/naoqi_msgs/action/BodyPose.action
deleted file mode 100644
index 400a4a0..0000000
--- a/naoqi_msgs/action/BodyPose.action
+++ /dev/null
@@ -1,6 +0,0 @@
-# goal: a registered body pose name
-string pose_name
----
-# no result currently
----
-# no feedback currently
\ No newline at end of file
diff --git a/naoqi_msgs/action/BodyPoseWithSpeed.action b/naoqi_msgs/action/BodyPoseWithSpeed.action
deleted file mode 100644
index 3cc515e..0000000
--- a/naoqi_msgs/action/BodyPoseWithSpeed.action
+++ /dev/null
@@ -1,9 +0,0 @@
-# goal: a predefined body pose name :
-# Crouch, LyingBack, LyingBelly, Sit, SitRelax, Stand, StandInit, StandZero
-
-string posture_name
-float32 speed
----
-# no result currently
----
-# no feedback
diff --git a/naoqi_msgs/action/FollowPath.action b/naoqi_msgs/action/FollowPath.action
deleted file mode 100644
index b73357f..0000000
--- a/naoqi_msgs/action/FollowPath.action
+++ /dev/null
@@ -1,7 +0,0 @@
-# goal: a path to follow
-nav_msgs/Path path
----
-# no result currently
----
-# feedback: index of current subgoal in path
-uint32 index
diff --git a/naoqi_msgs/action/JointAnglesWithSpeed.action b/naoqi_msgs/action/JointAnglesWithSpeed.action
deleted file mode 100644
index 3dfc1f3..0000000
--- a/naoqi_msgs/action/JointAnglesWithSpeed.action
+++ /dev/null
@@ -1,7 +0,0 @@
-# goal: a registered body pose name
-naoqi_msgs/JointAnglesWithSpeed joint_angles
----
-# result is the actually reached position
-sensor_msgs/JointState goal_position
----
-# no feedback currently
diff --git a/naoqi_msgs/action/JointTrajectory.action b/naoqi_msgs/action/JointTrajectory.action
deleted file mode 100644
index dc2a63b..0000000
--- a/naoqi_msgs/action/JointTrajectory.action
+++ /dev/null
@@ -1,9 +0,0 @@
-# goal: a joint angle trajectory
-trajectory_msgs/JointTrajectory trajectory
-# flag whether motion is absolute (=0, default) or relative (=1)
-uint8 relative
----
-# result is the actually reached position
-sensor_msgs/JointState goal_position
----
-# no feedback currently
\ No newline at end of file
diff --git a/naoqi_msgs/action/RunBehavior.action b/naoqi_msgs/action/RunBehavior.action
deleted file mode 100644
index 0e7d8a0..0000000
--- a/naoqi_msgs/action/RunBehavior.action
+++ /dev/null
@@ -1,6 +0,0 @@
-# Goal [behavior]: name of the behavior to be executed
-# Result: none, will be set to aborted or preempted
-# Feedback: none as NaoQI API cannot be queried in this respect
-string behavior
----
----
diff --git a/naoqi_msgs/action/SetSpeechVocabulary.action b/naoqi_msgs/action/SetSpeechVocabulary.action
deleted file mode 100644
index d188731..0000000
--- a/naoqi_msgs/action/SetSpeechVocabulary.action
+++ /dev/null
@@ -1,9 +0,0 @@
-# Goal: The new vocabulary to be set in the speech recognition module
-# Result: True if the vocabulary was set
-# Feedback: None
-
-string[] words
----
-bool success
----
-
diff --git a/naoqi_msgs/action/SpeechWithFeedback.action b/naoqi_msgs/action/SpeechWithFeedback.action
deleted file mode 100644
index 368d7e5..0000000
--- a/naoqi_msgs/action/SpeechWithFeedback.action
+++ /dev/null
@@ -1,11 +0,0 @@
-# Purpose : To have feedback on when the speech was started and when
-# NAO stopped talking
-# Goal: The sentence for NAO to say
-# Result: NAO has finished speaking
-# Feedback: When NAO starts speaking
-
-string say
----
-# Empty result
----
-# Empty feedback
diff --git a/naoqi_msgs/msg/AudioBuffer.msg b/naoqi_msgs/msg/AudioBuffer.msg
deleted file mode 100644
index 65f49a8..0000000
--- a/naoqi_msgs/msg/AudioBuffer.msg
+++ /dev/null
@@ -1,19 +0,0 @@
-# timestanp the audio buffer
-Header header
-# current frequency of the audio interface
-uint16 frequency
-# channel order properties :
-uint8 CHANNEL_FRONT_LEFT=0
-uint8 CHANNEL_FRONT_CENTER=1
-uint8 CHANNEL_FRONT_RIGHT=2
-uint8 CHANNEL_REAR_LEFT=3
-uint8 CHANNEL_REAR_CENTER=4
-uint8 CHANNEL_REAR_RIGHT=5
-uint8 CHANNEL_SURROUND_LEFT=6
-uint8 CHANNEL_SURROUND_RIGHT=7
-uint8 CHANNEL_SUBWOOFER=8
-uint8 CHANNEL_LFE=9
-# channel order of the current buffer
-uint8[] channelMap
-# interlaced data of the audio buffer
-int16[] data
\ No newline at end of file
diff --git a/naoqi_msgs/msg/Bumper.msg b/naoqi_msgs/msg/Bumper.msg
deleted file mode 100644
index c4935a0..0000000
--- a/naoqi_msgs/msg/Bumper.msg
+++ /dev/null
@@ -1,10 +0,0 @@
-# A message for Nao's bumpers on the feet
-
-uint8 bumper # which bumper (left or right)
-uint8 state # state of the bumper (pressed or released)
-
-uint8 right=0
-uint8 left=1
-
-uint8 stateReleased=0
-uint8 statePressed=1
diff --git a/naoqi_msgs/msg/FadeRGB.msg b/naoqi_msgs/msg/FadeRGB.msg
deleted file mode 100644
index c49825c..0000000
--- a/naoqi_msgs/msg/FadeRGB.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-#Message to fade leds
-string led_name
-std_msgs/ColorRGBA color
-duration fade_duration
diff --git a/naoqi_msgs/msg/JointAngleTrajectory.msg b/naoqi_msgs/msg/JointAngleTrajectory.msg
deleted file mode 100644
index 2bddd8e..0000000
--- a/naoqi_msgs/msg/JointAngleTrajectory.msg
+++ /dev/null
@@ -1,11 +0,0 @@
-Header header
-
-# A list of joint names, corresponding to their names in the Nao docs.
-# This must be either the same lenght of joint_angles or 1 if it's a
-# keyword such as 'Body' (for all angles)
-string[] joint_names
-float32[] joint_angles
-float32[] times
-
-# Absolute angle(=0, default) or relative change
-uint8 relative
diff --git a/naoqi_msgs/msg/JointAnglesWithSpeed.msg b/naoqi_msgs/msg/JointAnglesWithSpeed.msg
deleted file mode 100644
index 5705c17..0000000
--- a/naoqi_msgs/msg/JointAnglesWithSpeed.msg
+++ /dev/null
@@ -1,13 +0,0 @@
-Header header
-
-# A list of joint names, corresponding to their names in the Nao docs.
-# This must be either the same lenght of joint_angles or 1 if it's a
-# keyword such as 'Body' (for all angles)
-string[] joint_names
-float32[] joint_angles
-
-#fraction of max joint velocity [0:1]
-float32 speed
-
-# Absolute angle(=0, default) or relative change
-uint8 relative
diff --git a/naoqi_msgs/msg/TactileTouch.msg b/naoqi_msgs/msg/TactileTouch.msg
deleted file mode 100644
index 69e8977..0000000
--- a/naoqi_msgs/msg/TactileTouch.msg
+++ /dev/null
@@ -1,11 +0,0 @@
-# A message for Nao's tactile interface (toucht buttons on the head)
-
-uint8 button # which of the three segments is touched
-uint8 state # pressed or released, see below
-
-uint8 buttonFront=1
-uint8 buttonMiddle=2
-uint8 buttonRear=3
-
-uint8 stateReleased=0
-uint8 statePressed=1
diff --git a/naoqi_msgs/msg/WordRecognized.msg b/naoqi_msgs/msg/WordRecognized.msg
deleted file mode 100644
index a6be267..0000000
--- a/naoqi_msgs/msg/WordRecognized.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# Message emitted by Nao speech recognition.
-# It contains the list of words recognized and confidence values
-# Both arrays are of the same length
-string[] words
-float32[] confidence_values
diff --git a/naoqi_msgs/package.xml b/naoqi_msgs/package.xml
deleted file mode 100644
index 36b72f9..0000000
--- a/naoqi_msgs/package.xml
+++ /dev/null
@@ -1,40 +0,0 @@
-
- naoqi_msgs
- 0.4.8
-
- Message and service declarations for the Nao humanoid
-
- Severin Lemaignan
- Vincent Rabaud
- BSD
-
- http://ros.org/wiki/naoqi_msgs
- https://github.com/ros-naoqi/naoqi_bridge/issues
- https://github.com/ros-naoqi/naoqi_bridge.git
-
- Armin Hornung
- Stefan Osswald
- Daniel Maier
- Miguel Sarabia
-
- catkin
-
- message_generation
- std_msgs
- actionlib_msgs
- geometry_msgs
- sensor_msgs
- nav_msgs
- trajectory_msgs
-
- message_runtime
- std_msgs
- actionlib_msgs
- geometry_msgs
- sensor_msgs
- nav_msgs
- trajectory_msgs
-
- nao_msgs
-
-
diff --git a/naoqi_msgs/srv/CmdPoseService.srv b/naoqi_msgs/srv/CmdPoseService.srv
deleted file mode 100644
index 046b863..0000000
--- a/naoqi_msgs/srv/CmdPoseService.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-# Command pose as service:
-geometry_msgs/Pose2D pose
----
diff --git a/naoqi_msgs/srv/CmdVelService.srv b/naoqi_msgs/srv/CmdVelService.srv
deleted file mode 100644
index 68fcf25..0000000
--- a/naoqi_msgs/srv/CmdVelService.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-# Command velocity as service:
-geometry_msgs/Twist twist
----
diff --git a/naoqi_msgs/srv/GetInstalledBehaviors.srv b/naoqi_msgs/srv/GetInstalledBehaviors.srv
deleted file mode 100644
index 0c442f8..0000000
--- a/naoqi_msgs/srv/GetInstalledBehaviors.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-# List installed behaviors on the robot
----
-string[] behaviors
diff --git a/naoqi_msgs/srv/GetTruepose.srv b/naoqi_msgs/srv/GetTruepose.srv
deleted file mode 100644
index 1c40596..0000000
--- a/naoqi_msgs/srv/GetTruepose.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-# Get the current truepose from the simulator environment
----
-geometry_msgs/PoseWithCovarianceStamped pose
\ No newline at end of file
diff --git a/naoqi_msgs/srv/SetArmsEnabled.srv b/naoqi_msgs/srv/SetArmsEnabled.srv
deleted file mode 100644
index 502f2c2..0000000
--- a/naoqi_msgs/srv/SetArmsEnabled.srv
+++ /dev/null
@@ -1,4 +0,0 @@
-# Enable or disable the arms while walking
-bool left_arm
-bool right_arm
----
diff --git a/naoqi_msgs/srv/SetTransform.srv b/naoqi_msgs/srv/SetTransform.srv
deleted file mode 100644
index d3ab4fb..0000000
--- a/naoqi_msgs/srv/SetTransform.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-# Send a new manual offset to the odometry
-geometry_msgs/Transform offset
----
diff --git a/naoqi_pose/nodes/pose_controller.py b/naoqi_pose/nodes/pose_controller.py
index 99027ee..e25b062 100755
--- a/naoqi_pose/nodes/pose_controller.py
+++ b/naoqi_pose/nodes/pose_controller.py
@@ -36,7 +36,7 @@
import rospy
import actionlib
-from naoqi_msgs.msg import(
+from naoqi_bridge_msgs.msg import(
JointTrajectoryResult,
JointTrajectoryAction,
JointAnglesWithSpeed,
diff --git a/naoqi_pose/nodes/pose_manager.py b/naoqi_pose/nodes/pose_manager.py
index 3f67c9b..1b7ba9a 100755
--- a/naoqi_pose/nodes/pose_manager.py
+++ b/naoqi_pose/nodes/pose_manager.py
@@ -38,8 +38,8 @@
import actionlib
from actionlib_msgs.msg import GoalStatus
-import naoqi_msgs.msg
-from naoqi_msgs.msg import JointTrajectoryGoal, JointTrajectoryAction, BodyPoseAction, BodyPoseGoal
+import naoqi_bridge_msgs.msg
+from naoqi_bridge_msgs.msg import JointTrajectoryGoal, JointTrajectoryAction, BodyPoseAction, BodyPoseGoal
from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
from sensor_msgs.msg import JointState
diff --git a/naoqi_sensors_py/launch/camera.launch b/naoqi_sensors_py/launch/camera.launch
index ac33f6c..5b52520 100644
--- a/naoqi_sensors_py/launch/camera.launch
+++ b/naoqi_sensors_py/launch/camera.launch
@@ -20,9 +20,9 @@
-
-
-
+
+
+
diff --git a/naoqi_sensors_py/launch/microphone.launch b/naoqi_sensors_py/launch/microphone.launch
index 7bbac54..1873bd3 100644
--- a/naoqi_sensors_py/launch/microphone.launch
+++ b/naoqi_sensors_py/launch/microphone.launch
@@ -6,7 +6,7 @@
-
+
diff --git a/naoqi_sensors_py/launch/octomap.launch b/naoqi_sensors_py/launch/octomap.launch
index 46f1b04..87df3c9 100644
--- a/naoqi_sensors_py/launch/octomap.launch
+++ b/naoqi_sensors_py/launch/octomap.launch
@@ -4,5 +4,5 @@
-
+
diff --git a/naoqi_sensors_py/launch/sonar.launch b/naoqi_sensors_py/launch/sonar.launch
index e244219..1c7075e 100644
--- a/naoqi_sensors_py/launch/sonar.launch
+++ b/naoqi_sensors_py/launch/sonar.launch
@@ -7,7 +7,7 @@
-
+
diff --git a/naoqi_sensors_py/nodes/contact.py b/naoqi_sensors_py/nodes/contact.py
index bec9f00..3516b9d 100755
--- a/naoqi_sensors_py/nodes/contact.py
+++ b/naoqi_sensors_py/nodes/contact.py
@@ -35,7 +35,7 @@
import rospy
import naoqi
-from naoqi_msgs.msg import TactileTouch, Bumper
+from naoqi_bridge_msgs.msg import TactileTouch, Bumper
from std_msgs.msg import Bool
from naoqi_driver.naoqi_node import NaoqiNode
from naoqi import ( ALModule, ALBroker, ALProxy )
diff --git a/naoqi_sensors_py/src/naoqi_sensors/naoqi_camera.py b/naoqi_sensors_py/src/naoqi_sensors/naoqi_camera.py
index dd2fca1..b4af56d 100644
--- a/naoqi_sensors_py/src/naoqi_sensors/naoqi_camera.py
+++ b/naoqi_sensors_py/src/naoqi_sensors/naoqi_camera.py
@@ -41,7 +41,7 @@
import camera_info_manager
from dynamic_reconfigure.server import Server
-from naoqi_sensors.cfg import NaoqiCameraConfig
+from naoqi_sensors_py.cfg import NaoqiCameraConfig
# import resolutions
from naoqi_sensors.vision_definitions import k960p, k4VGA, kVGA, kQVGA, kQQVGA
diff --git a/naoqi_sensors_py/src/naoqi_sensors/naoqi_microphone.py b/naoqi_sensors_py/src/naoqi_sensors/naoqi_microphone.py
index e474cfb..f192b17 100644
--- a/naoqi_sensors_py/src/naoqi_sensors/naoqi_microphone.py
+++ b/naoqi_sensors_py/src/naoqi_sensors/naoqi_microphone.py
@@ -21,8 +21,8 @@
from naoqi_driver.naoqi_node import NaoqiNode
from dynamic_reconfigure.server import Server
-from naoqi_sensors.cfg import NaoqiMicrophoneConfig
-from naoqi_msgs.msg import AudioBuffer
+from naoqi_sensors_py.cfg import NaoqiMicrophoneConfig
+from naoqi_bridge_msgs.msg import AudioBuffer
from naoqi import ALModule, ALBroker, ALProxy
diff --git a/naoqi_sensors_py/src/naoqi_sensors/naoqi_sonar.py b/naoqi_sensors_py/src/naoqi_sensors/naoqi_sonar.py
index 213bc44..20b02c4 100644
--- a/naoqi_sensors_py/src/naoqi_sensors/naoqi_sonar.py
+++ b/naoqi_sensors_py/src/naoqi_sensors/naoqi_sonar.py
@@ -82,11 +82,11 @@ def run(self):
except RuntimeError as e:
rospy.loginfo( 'key not found, correct robot ?', e )
break
-
+
# publish messages
self.publisher.publish(sonar.msg)
#sleep
self.sonarRate.sleep()
-
+
#exit sonar subscription
- self.sonarProxy.unsubscribe(self.NAOQI_SONAR_SUB_NAME)
+ #self.sonarProxy.unsubscribe(self.NAOQI_SONAR_SUB_NAME)