diff --git a/joint_state_publisher/CMakeLists.txt b/joint_state_publisher/CMakeLists.txt
new file mode 100644
index 0000000..8ff1a27
--- /dev/null
+++ b/joint_state_publisher/CMakeLists.txt
@@ -0,0 +1,8 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(joint_state_publisher)
+
+find_package(catkin)
+
+catkin_python_setup()
+
+catkin_package()
diff --git a/visualization/joint_state_publisher/joint_state_publisher b/joint_state_publisher/joint_state_publisher/joint_state_publisher
similarity index 100%
rename from visualization/joint_state_publisher/joint_state_publisher
rename to joint_state_publisher/joint_state_publisher/joint_state_publisher
diff --git a/joint_state_publisher/package.xml b/joint_state_publisher/package.xml
new file mode 100644
index 0000000..bf4d1c2
--- /dev/null
+++ b/joint_state_publisher/package.xml
@@ -0,0 +1,22 @@
+<package>
+  <name>joint_state_publisher</name>
+  <version>1.9.32</version>
+  <description>
+    This package contains a tool for setting and publishing joint state values for a given URDF.
+  </description>
+  <author email="davidlu@wustl.edu">David Lu!!!</author>
+  <maintainer email="davidlu@wustl.edu">David Lu!!!</maintainer>
+  <license>BSD</license>
+  <url type="website">http://www.ros.org/wiki/joint_state_publisher</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>rospy</build_depend> 
+  <build_depend>wxpython</build_depend> 
+  <build_depend>sensor_msgs</build_depend> 
+
+  <run_depend>rospy</run_depend> 
+  <run_depend>wxpython</run_depend> 
+  <run_depend>sensor_msgs</run_depend> 
+
+</package>
diff --git a/visualization/joint_state_publisher/screenshot.png b/joint_state_publisher/screenshot.png
similarity index 100%
rename from visualization/joint_state_publisher/screenshot.png
rename to joint_state_publisher/screenshot.png
diff --git a/joint_state_publisher/setup.py b/joint_state_publisher/setup.py
new file mode 100644
index 0000000..71d79df
--- /dev/null
+++ b/joint_state_publisher/setup.py
@@ -0,0 +1,9 @@
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup()
+d['packages'] = []
+d['scripts'] = ['joint_state_publisher/joint_state_publisher']
+d['package_dir'] = {}
+
+setup(**d)
diff --git a/srdf/CMakeLists.txt b/srdf/CMakeLists.txt
deleted file mode 100644
index f2d926a..0000000
--- a/srdf/CMakeLists.txt
+++ /dev/null
@@ -1,11 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(srdf)
-
-find_package(catkin REQUIRED)
-
-catkin_package(
-  INCLUDE_DIRS include
-)
-
-install(DIRECTORY include/
-        DESTINATION include)
diff --git a/srdf/include/srdf/model.h b/srdf/include/srdf/model.h
deleted file mode 100644
index 9d0b2be..0000000
--- a/srdf/include/srdf/model.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-* 
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-* 
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-* 
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-* 
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-#ifndef SRDF_INTERFACE_MODEL_
-#define SRDF_INTERFACE_MODEL_
-
-#warning "Please Use #include <srdfdom/model.h>"
-
-#include <srdfdom/model.h>
-
-#endif
diff --git a/srdf/mainpage.dox b/srdf/mainpage.dox
deleted file mode 100644
index 233eab3..0000000
--- a/srdf/mainpage.dox
+++ /dev/null
@@ -1,13 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b srdf is a parser for SRDF (Semantic Robot Description Format) documents. 
-Please see http://www.ros.org/wiki/srdf for more details.
-
-<!-- 
-Provide an overview of your package.
--->
-
-
-*/
diff --git a/srdf/package.xml b/srdf/package.xml
deleted file mode 100644
index 365997b..0000000
--- a/srdf/package.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<package>
-  <name>srdf</name>
-  <version>1.9.32</version>
-
-  <description>
-
-    SRDF (Semantic Robot Description Format) is a representation of
-    semantic information about robots.
-
-  </description>
-  <author>Ioan Sucan</author>
-  <maintainer email="isucan@willowgarage.com">Ioan Sucan</maintainer>  <license>BSD</license>
-
-  <url type="website">http://ros.org/wiki/srdf</url>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>srdfdom</build_depend>
-  <build_depend>tinyxml</build_depend>
-
-  <run_depend>srdfdom</run_depend>
-  <run_depend>tinyxml</run_depend>
-
-</package>
diff --git a/urdf_interface/CMakeLists.txt b/urdf_interface/CMakeLists.txt
deleted file mode 100644
index dfe7965..0000000
--- a/urdf_interface/CMakeLists.txt
+++ /dev/null
@@ -1,12 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(urdf_interface)
-
-find_package(catkin REQUIRED COMPONENTS urdfdom)
-
-catkin_package(
-  INCLUDE_DIRS include
-  DEPENDS urdfdom
-)
-
-install(DIRECTORY include/
-        DESTINATION include)
diff --git a/urdf_interface/include/urdf_interface/color.h b/urdf_interface/include/urdf_interface/color.h
deleted file mode 100644
index 828a9b4..0000000
--- a/urdf_interface/include/urdf_interface/color.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-* 
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-* 
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-* 
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-* 
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-#ifndef URDF_INTERFACE_COLOR_
-#define URDF_INTERFACE_COLOR_
-
-#warning "Please Use #include <urdf_model/color.h>"
-
-#include <urdf_model/color.h>
-
-#endif
diff --git a/urdf_interface/include/urdf_interface/joint.h b/urdf_interface/include/urdf_interface/joint.h
deleted file mode 100644
index 82ec20c..0000000
--- a/urdf_interface/include/urdf_interface/joint.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-* 
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-* 
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-* 
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-* 
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-#ifndef URDF_INTERFACE_JOINT_
-#define URDF_INTERFACE_JOINT_
-
-#warning "Please Use #include <urdf_model/joint.h>"
-
-#include <urdf_model/joint.h>
-
-#endif
diff --git a/urdf_interface/include/urdf_interface/link.h b/urdf_interface/include/urdf_interface/link.h
deleted file mode 100644
index a32fab9..0000000
--- a/urdf_interface/include/urdf_interface/link.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-* 
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-* 
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-* 
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-* 
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-#ifndef URDF_INTERFACE_LINK_
-#define URDF_INTERFACE_LINK_
-
-#warning "Please Use #include <urdf_model/link.h>"
-
-#include <urdf_model/link.h>
-
-#endif
diff --git a/urdf_interface/include/urdf_interface/model.h b/urdf_interface/include/urdf_interface/model.h
deleted file mode 100644
index 5b0ebe4..0000000
--- a/urdf_interface/include/urdf_interface/model.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-* 
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-* 
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-* 
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-* 
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-#ifndef URDF_INTERFACE_MODEL_
-#define URDF_INTERFACE_MODEL_
-
-#warning "Please Use #include <urdf_model/model.h>"
-
-#include <urdf_model/model.h>
-
-#endif
diff --git a/urdf_interface/include/urdf_interface/pose.h b/urdf_interface/include/urdf_interface/pose.h
deleted file mode 100644
index 9dd19cd..0000000
--- a/urdf_interface/include/urdf_interface/pose.h
+++ /dev/null
@@ -1,42 +0,0 @@
-/*********************************************************************
-* Software License Agreement (BSD License)
-* 
-*  Copyright (c) 2008, Willow Garage, Inc.
-*  All rights reserved.
-* 
-*  Redistribution and use in source and binary forms, with or without
-*  modification, are permitted provided that the following conditions
-*  are met:
-* 
-*   * Redistributions of source code must retain the above copyright
-*     notice, this list of conditions and the following disclaimer.
-*   * Redistributions in binary form must reproduce the above
-*     copyright notice, this list of conditions and the following
-*     disclaimer in the documentation and/or other materials provided
-*     with the distribution.
-*   * Neither the name of the Willow Garage nor the names of its
-*     contributors may be used to endorse or promote products derived
-*     from this software without specific prior written permission.
-* 
-*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-*  POSSIBILITY OF SUCH DAMAGE.
-*********************************************************************/
-
-#ifndef URDF_INTERFACE_POSE_
-#define URDF_INTERFACE_POSE_
-
-#warning "Please Use #include <urdf_model/pose.h>"
-
-#include <urdf_model/pose.h>
-
-#endif
diff --git a/urdf_interface/mainpage.dox b/urdf_interface/mainpage.dox
deleted file mode 100644
index 9287a45..0000000
--- a/urdf_interface/mainpage.dox
+++ /dev/null
@@ -1,159 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-urdf::Model is a class containing robot model data structure.
-Every Robot Description File (URDF) can be described as a list of Links (urdf::Model::links_) and Joints (urdf::Model::joints_).
-The connection between links(nodes) and joints(edges) should define a tree (i.e. 1 parent link, 0+ children links).
-\li Here is an example Robot Description Describing a Parent Link 'P', a Child Link 'C', and a Joint 'J'
- @verbatim
-  <joint name="J" type="revolute">
-    <dynamics damping="1" friction="0"/>
-    <limit lower="0.9" upper="2.1" effort="1000" velocity="1"/>
-    <safety_controller soft_lower_limit="0.7" soft_upper_limit="2.1" k_position="1" k_velocity="1" />
-    <calibration reference_position="0.7" />
-    <mimic joint="J100" offset="0" multiplier="0.7" />
-
-    <!-- origin: origin of the joint in the parent frame -->
-    <!-- child link frame is the joint frame -->
-    <!-- axis is in the joint frame -->
-    <origin xyz="0 0 0" rpy="0 0 0"/> 
-    <axis xyz="0 1 0"/> 
-    <parent link="P"/>
-    <child link="C"/>
-  </joint>
-
-  <link name="C">
-    <inertial>
-      <mass value="10"/>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
-    </inertial>
-
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="1 1 1"/>
-      </geometry>
-      <material name="Green"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <box size="1.01 1.01 1.01"/>
-      </geometry>
-      <contact_coefficient mu="0"  resitution="0"  k_p="0"  k_d="0" />
-    </collision>
-  </link>
-
-  <material name="Green">
-    <texture filename="...texture file..." />
-    <!--color rgb="255 255 255" /-->
-  </material>
- @endverbatim
-
-
-
-\section codeapi Code API
-
-The URDF parser API contains the following methods:
-  \li Parse and build tree from XML: urdf::Model::initXml
-  \li Parse and build tree from File: urdf::Model::initFile
-  \li Parse and build tree from String: urdf::Model::initString
-  \li Get Root Link: urdf::Model::getRoot
-  \li Get Link by name urdf::Model::getLink
-  \li Get all Link's urdf::Model::getLinks
-  \li Get Joint by name urdf::Model::getJoint
-
-<!--
-\section rosapi ROS API
-
-Names are very important in ROS because they can be remapped on the
-command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY
-APPEAR IN THE CODE. You should list names of every topic, service and
-parameter used in your code. There is a template below that you can
-use to document each node separately.
-
-List of nodes:
-- \b node_name1
-- \b node_name2
--->
-
-<!-- START: copy from here to 'END' for each node 
-
-<hr>
-
-\subsection node_name node_name
-
-node_name does (provide a basic description of your node)
-
-\subsubsection Usage
-\verbatim
-$ node_type1 [standard ROS args]
-\endverbatim
-
-\par Example
-
-\verbatim
-$ node_type1
-\endverbatim
-
-
-\subsubsection topics ROS topics
-
-Subscribes to:
-- \b "in": [std_msgs/FooType] description of in
-
-Publishes to:
-- \b "out": [std_msgs/FooType] description of out
-
-
-\subsubsection parameters ROS parameters
-
-Reads the following parameters from the parameter server
-
-- \b "~param_name" : \b [type] description of param_name
-- \b "~my_param" : \b [string] description of my_param
-
-Sets the following parameters on the parameter server
-
-- \b "~param_name" : \b [type] description of param_name
-
-
-\subsubsection services ROS services
-- \b "foo_service": [std_srvs/FooType] description of foo_service
-
-
-END: copy for each node -->
-
-
-<!-- START: Uncomment if you have any command-line tools
-
-\section commandline Command-line tools
-
-This section is a catch-all for any additional tools that your package
-provides or uses that may be of use to the reader. For example:
-
-- tools/scripts (e.g. rospack, roscd)
-- roslaunch .launch files
-- xmlparam files
-
-\subsection script_name script_name
-
-Description of what this script/file does.
-
-\subsubsection Usage
-\verbatim
-$ ./script_name [args]
-\endverbatim
-
-\par Example
-
-\verbatim
-$ ./script_name foo bar
-\endverbatim
-
-END: Command-Line Tools Section -->
-
-*/
diff --git a/urdf_interface/package.xml b/urdf_interface/package.xml
deleted file mode 100644
index e57ab08..0000000
--- a/urdf_interface/package.xml
+++ /dev/null
@@ -1,24 +0,0 @@
-<package>
-  <name>urdf_interface</name>
-  <version>1.9.32</version>
-  <description>
-    This package is DEPRECATED. Please use the urdfdom dependency directly instead of this package.
-
-    This package contains URDF C++ interface headers that define the
-    user API to the C++ URDF model.
-  </description>
-  <author>Wim Meeussen</author>
-  <author>John Hsu</author>
-  <maintainer email="isucan@willowgarage.com">Ioan Sucan</maintainer>
-  <license>BSD</license>
-  <url type="website">http://ros.org/wiki/urdf_interface</url>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <build_depend>urdfdom</build_depend>
-
-  <run_depend>urdfdom</run_depend>
-
-</package>
-
-
diff --git a/visualization/CMakeLists.txt b/visualization/CMakeLists.txt
deleted file mode 100644
index cf86d52..0000000
--- a/visualization/CMakeLists.txt
+++ /dev/null
@@ -1,17 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-# Append to CPACK_SOURCE_IGNORE_FILES a semicolon-separated list of
-# directories (or patterns, but directories should suffice) that should
-# be excluded from the distro.  This is not the place to put things that
-# should be ignored everywhere, like "build" directories; that happens in
-# rosbuild/rosbuild.cmake.  Here should be listed packages that aren't
-# ready for inclusion in a distro.
-#
-# This list is combined with the list in rosbuild/rosbuild.cmake.  Note
-# that CMake 2.6 may be required to ensure that the two lists are combined
-# properly.  CMake 2.4 seems to have unpredictable scoping rules for such
-# variables.
-#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
-
-rosbuild_make_distribution(0.1.2)
diff --git a/visualization/Makefile b/visualization/Makefile
deleted file mode 100644
index a818cca..0000000
--- a/visualization/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake_stack.mk
\ No newline at end of file
diff --git a/visualization/joint_state_publisher/CMakeLists.txt b/visualization/joint_state_publisher/CMakeLists.txt
deleted file mode 100644
index 172441e..0000000
--- a/visualization/joint_state_publisher/CMakeLists.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-cmake_minimum_required(VERSION 2.4.6)
-include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
-
-rosbuild_init()
-
diff --git a/visualization/joint_state_publisher/Makefile b/visualization/joint_state_publisher/Makefile
deleted file mode 100644
index b75b928..0000000
--- a/visualization/joint_state_publisher/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk
\ No newline at end of file
diff --git a/visualization/joint_state_publisher/manifest.xml b/visualization/joint_state_publisher/manifest.xml
deleted file mode 100644
index 5447c5d..0000000
--- a/visualization/joint_state_publisher/manifest.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<package>
-  <description brief="A node for publishing joint angles">
-	A node for publishing joint angles, either through a gui, or with
-    default values. 
-  </description>
-  <author>David Lu!!</author>
-  <license>BSD</license>
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/joint_state_publisher</url>
-  <depend package="rospy" />
-  <depend package="sensor_msgs" />
-  <rosdep name="wxpython" />
-</package>
-
-
diff --git a/visualization/stack.xml b/visualization/stack.xml
deleted file mode 100644
index c802c17..0000000
--- a/visualization/stack.xml
+++ /dev/null
@@ -1,11 +0,0 @@
-<stack>
-  <description brief="Tools for use with URDF Models">This package contains a number of tools for making, viewing and using URDF models.</description>
-  <author>Maintained by David Lu!!</author>
-  <license>BSD</license>  
-  <review status="unreviewed" notes=""/>
-  <url>http://ros.org/wiki/robot_model_visualization</url>
-  <depend stack="common_msgs" /> <!-- sensor_msgs -->
-  <depend stack="ros" />
-  <depend stack="ros_comm" /> <!-- rospy -->
-
-</stack>