From 62fca17589d63f1ef423ef38fd62564385f93f01 Mon Sep 17 00:00:00 2001 From: zhangshuai Date: Wed, 15 May 2019 09:06:48 +0800 Subject: [PATCH] modify for single computer MPI --- Gazebo_Distributed_MPI/mpi_run/mpirun_test.sh | 7 +- ...tor_2_single_gazebo_mpi_spawn_test1.launch | 30 ++ ...tor_2_single_gazebo_mpi_spawn_test2.launch | 30 ++ .../launch/hector_2_single_gazebo_test.launch | 18 +- .../launch/spawn_quadrotor_2.launch | 74 ++++ ...rport_distribution_10hector_mpi_test.world | 135 ++++++++ ...rport_distribution_10hector_tcp_test.world | 135 ++++++++ ...irport_distribution_2hector_mpi_test.world | 63 ++++ ...irport_distribution_2hector_tcp_test.world | 63 ++++ ...rport_distribution_30hector_mpi_test.world | 315 ++++++++++++++++++ ...rport_distribution_30hector_tcp_test.world | 315 ++++++++++++++++++ ...irport_distribution_4hector_mpi_test.world | 81 +++++ ...irport_distribution_4hector_tcp_test.world | 81 +++++ .../gazebo_ros/launch/empty_world.launch | 2 +- 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.../test/performance/CMakeLists.txt | 0 .../test/performance/parser_urdf.cc | 0 .../test/performance/parser_urdf_atlas.urdf | 0 .../test/test_config.h.in | 0 .../tools/check_test_ran.py | 0 .../tools/code_check.sh | 0 .../tools/cpplint.py | 0 .../tools/cpplint_to_cppcheckxml.py | 0 .../tools/get_mem_info.py | 0 .../tools/xmlschema.rb | 0 498 files changed, 1350 insertions(+), 20 deletions(-) create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_mpi_spawn_test1.launch create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_mpi_spawn_test2.launch create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_2.launch create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_mpi_test.world create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_tcp_test.world create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_tcp_test.world create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_mpi_test.world create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_tcp_test.world create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_mpi_test.world create mode 100644 Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_tcp_test.world rename {sdformat => sdformat_for_tcp}/.gitignore (100%) rename {sdformat => sdformat_for_tcp}/AUTHORS (100%) rename {sdformat => sdformat_for_tcp}/CMakeLists.txt (100%) rename {sdformat => sdformat_for_tcp}/COPYING (100%) rename {sdformat => sdformat_for_tcp}/Changelog.md (100%) rename {sdformat => sdformat_for_tcp}/INSTALL_WIN32.md (100%) rename {sdformat => sdformat_for_tcp}/LICENSE (100%) rename {sdformat => sdformat_for_tcp}/Migration.md (100%) rename {sdformat => sdformat_for_tcp}/NEWS (100%) rename {sdformat => sdformat_for_tcp}/README (100%) rename {sdformat => sdformat_for_tcp}/cmake/CodeCoverage.cmake (100%) rename {sdformat => sdformat_for_tcp}/cmake/DefaultCFlags.cmake (100%) rename {sdformat => sdformat_for_tcp}/cmake/FindOS.cmake (100%) rename {sdformat => sdformat_for_tcp}/cmake/FindSSE.cmake (100%) rename {sdformat => sdformat_for_tcp}/cmake/HostCFlags.cmake (100%) rename {sdformat => sdformat_for_tcp}/cmake/SDFUtils.cmake (100%) rename {sdformat => 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sdformat_for_tcp}/test/integration/urdf_gazebo_extensions.urdf (100%) rename {sdformat => sdformat_for_tcp}/test/integration/urdf_joint_parameters.cc (100%) rename {sdformat => sdformat_for_tcp}/test/integration/urdf_joint_parameters.urdf (100%) rename {sdformat => sdformat_for_tcp}/test/performance/CMakeLists.txt (100%) rename {sdformat => sdformat_for_tcp}/test/performance/parser_urdf.cc (100%) rename {sdformat => sdformat_for_tcp}/test/performance/parser_urdf_atlas.urdf (100%) rename {sdformat => sdformat_for_tcp}/test/test_config.h.in (100%) rename {sdformat => sdformat_for_tcp}/tools/check_test_ran.py (100%) rename {sdformat => sdformat_for_tcp}/tools/code_check.sh (100%) rename {sdformat => sdformat_for_tcp}/tools/cpplint.py (100%) rename {sdformat => sdformat_for_tcp}/tools/cpplint_to_cppcheckxml.py (100%) rename {sdformat => sdformat_for_tcp}/tools/get_mem_info.py (100%) rename {sdformat => sdformat_for_tcp}/tools/xmlschema.rb (100%) diff --git a/Gazebo_Distributed_MPI/mpi_run/mpirun_test.sh b/Gazebo_Distributed_MPI/mpi_run/mpirun_test.sh index 51251cf..0c9d325 100755 --- a/Gazebo_Distributed_MPI/mpi_run/mpirun_test.sh +++ b/Gazebo_Distributed_MPI/mpi_run/mpirun_test.sh @@ -9,4 +9,9 @@ mpiexec -hostfile hostfile -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gaz mpiexec -hostfile hostfile -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gzserver -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/empty_origin.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gzserver -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/empty_origin.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so -mpiexec -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so -gname xxx : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gazebo -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so -gname yyy \ No newline at end of file +mpiexec -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so -gname xxx : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so -gname yyy + + +mpiexec -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=xxx : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gazebo -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=yyy + +mpiexec -np 1 -x GAZEBO_MASTER_URI=http://localhost:11346 gzserver -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=xxx : -np 1 -x GAZEBO_MASTER_URI=http://localhost:11347 gzserver -u -e ode --verbose /home/zhangshuai/Git/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_paths_plugin.so -s /home/zhangshuai/catkin_ws/devel/lib/libgazebo_ros_api_plugin.so __name:=yyy \ No newline at end of file diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_mpi_spawn_test1.launch b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_mpi_spawn_test1.launch new file mode 100644 index 0000000..f11ae20 --- /dev/null +++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_mpi_spawn_test1.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_mpi_spawn_test2.launch b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_mpi_spawn_test2.launch new file mode 100644 index 0000000..1f1fa1e --- /dev/null +++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_mpi_spawn_test2.launch @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_test.launch b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_test.launch index 8f91a69..e40a8a3 100644 --- a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_test.launch +++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/hector_2_single_gazebo_test.launch @@ -3,8 +3,16 @@ - - + + + + + + + + + - + diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_2.launch b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_2.launch new file mode 100644 index 0000000..8dcd3e7 --- /dev/null +++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_2.launch @@ -0,0 +1,74 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_mpi_test.world b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_mpi_test.world new file mode 100644 index 0000000..41e8ea4 --- /dev/null +++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_mpi_test.world @@ -0,0 +1,135 @@ + + + + + + model://sun + + + + model://kunming_airport + 0 0 0 0 0 0 + + + + 0.68 0.68 0.68 1.0 + + + + 0 + + + + + + + + bebop_0 + bebop_1 + bebop_2 + bebop_3 + bebop_4 + + + bebop_5 + bebop_6 + bebop_7 + bebop_8 + bebop_9 + + + + + 0 + 0.001 + 0 + + + + + 0 0 0.186 0 0 0 + + model://quadrotor + + + + + + 0 5 0.186 0 0 0 + + model://quadrotor + + + + + + 0 10 0.186 0 0 0 + + model://quadrotor + + + + + + 0 15 0.186 0 0 0 + + model://quadrotor + + + + + + 0 20 0.186 0 0 0 + + model://quadrotor + + + + + + 0 25 0.186 0 0 0 + + model://quadrotor + + + + + + 0 30 0.186 0 0 0 + + model://quadrotor + + + + + + 0 35 0.186 0 0 0 + + model://quadrotor + + + + + + 0 40 0.186 0 0 0 + + model://quadrotor + + + + + + 0 45 0.186 0 0 0 + + model://quadrotor + + + + + + diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_tcp_test.world b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_tcp_test.world new file mode 100644 index 0000000..0f34ce7 --- /dev/null +++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_10hector_tcp_test.world @@ -0,0 +1,135 @@ + + + + + + model://sun + + + + model://kunming_airport + 0 0 0 0 0 0 + + + + 0.68 0.68 0.68 1.0 + + + + 0 + + + + + + + + bebop_0 + bebop_1 + bebop_2 + bebop_3 + bebop_4 + + + bebop_5 + bebop_6 + bebop_7 + bebop_8 + bebop_9 + + + + + 0 + 0.001 + 0 + + + + + 0 0 0.186 0 0 0 + + model://quadrotor + + + + + + 0 5 0.186 0 0 0 + + model://quadrotor + + + + + + 0 10 0.186 0 0 0 + + model://quadrotor + + + + + + 0 15 0.186 0 0 0 + + model://quadrotor + + + + + + 0 20 0.186 0 0 0 + + model://quadrotor + + + + + + 0 25 0.186 0 0 0 + + model://quadrotor + + + + + + 0 30 0.186 0 0 0 + + model://quadrotor + + + + + + 0 35 0.186 0 0 0 + + model://quadrotor + + + + + + 0 40 0.186 0 0 0 + + model://quadrotor + + + + + + 0 45 0.186 0 0 0 + + model://quadrotor + + + + + + diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world new file mode 100644 index 0000000..2bb7518 --- /dev/null +++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_mpi_test.world @@ -0,0 +1,63 @@ + + + + + + model://sun + + + + model://kunming_airport + 0 0 0 0 0 0 + + + + 0.68 0.68 0.68 1.0 + + + + 0 + + + + + + + +bebop_0 + + +bebop_1 + + + + + 0 + 0.001 + 0 + + + + + + + diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_tcp_test.world b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_tcp_test.world new file mode 100644 index 0000000..a4753a4 --- /dev/null +++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_2hector_tcp_test.world @@ -0,0 +1,63 @@ + + + + + + model://sun + + + + model://kunming_airport + 0 0 0 0 0 0 + + + + 0.68 0.68 0.68 1.0 + + + + 0 + + + + + + + + bebop_0 + + + bebop_1 + + + + + 0 + 0.001 + 0 + + + + + 0 5 0.186 0 0 0 + + model://quadrotor + + + + + + 0 -5 0.186 0 0 0 + + model://quadrotor + + + + + + diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_mpi_test.world b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_mpi_test.world new file mode 100644 index 0000000..af4005b --- /dev/null +++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_mpi_test.world @@ -0,0 +1,315 @@ + + + + + + model://sun + + + + model://kunming_airport + 0 0 0 0 0 0 + + + + 0.68 0.68 0.68 1.0 + + + + 0 + + + + + + + + bebop_0 + bebop_1 + bebop_2 + bebop_3 + bebop_4 + bebop_5 + bebop_6 + bebop_7 + bebop_8 + bebop_9 + bebop_10 + bebop_11 + bebop_12 + bebop_13 + bebop_14 + + + bebop_15 + bebop_16 + bebop_17 + bebop_18 + bebop_19 + bebop_20 + bebop_21 + bebop_22 + bebop_23 + bebop_24 + bebop_25 + bebop_26 + bebop_27 + bebop_28 + bebop_29 + + + + + 0 + 0.001 + 0 + + + + + 0 0 0.186 0 0 0 + + model://quadrotor + + + + + + 0 5 0.186 0 0 0 + + model://quadrotor + + + + + + 0 10 0.186 0 0 0 + + model://quadrotor + + + + + + 0 15 0.186 0 0 0 + + model://quadrotor + + + + + + 0 20 0.186 0 0 0 + + model://quadrotor + + + + + + 0 25 0.186 0 0 0 + + model://quadrotor + + + + + + 0 30 0.186 0 0 0 + + model://quadrotor + + + + + + 0 35 0.186 0 0 0 + + model://quadrotor + + + + + + 0 40 0.186 0 0 0 + + model://quadrotor + + + + + + 0 45 0.186 0 0 0 + + model://quadrotor + + + + + + 5 0 0.186 0 0 0 + + model://quadrotor + + + + + + 5 5 0.186 0 0 0 + + model://quadrotor + + + + + + 5 10 0.186 0 0 0 + + 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a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_tcp_test.world b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_tcp_test.world new file mode 100644 index 0000000..75d2b3b --- /dev/null +++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_30hector_tcp_test.world @@ -0,0 +1,315 @@ + + + + + + model://sun + + + + model://kunming_airport + 0 0 0 0 0 0 + + + + 0.68 0.68 0.68 1.0 + + + + 0 + + + + + + + + bebop_0 + bebop_1 + bebop_2 + bebop_3 + bebop_4 + bebop_5 + bebop_6 + bebop_7 + bebop_8 + bebop_9 + bebop_10 + bebop_11 + bebop_12 + bebop_13 + bebop_14 + + + bebop_15 + bebop_16 + bebop_17 + bebop_18 + bebop_19 + bebop_20 + bebop_21 + bebop_22 + bebop_23 + bebop_24 + bebop_25 + bebop_26 + bebop_27 + bebop_28 + bebop_29 + + + + + 0 + 0.001 + 0 + + + + + 0 0 0.186 0 0 0 + + model://quadrotor + + + + + + 0 5 0.186 0 0 0 + + model://quadrotor + + + + + + 0 10 0.186 0 0 0 + + model://quadrotor + + + + + + 0 15 0.186 0 0 0 + + model://quadrotor + + + + + + 0 20 0.186 0 0 0 + + model://quadrotor + + + + + + 0 25 0.186 0 0 0 + + model://quadrotor + + + + + + 0 30 0.186 0 0 0 + + model://quadrotor + + + + + + 0 35 0.186 0 0 0 + + model://quadrotor + + + + + + 0 40 0.186 0 0 0 + + model://quadrotor + + + + + + 0 45 0.186 0 0 0 + + model://quadrotor + + + + + + 5 0 0.186 0 0 0 + + model://quadrotor + + + + + + 5 5 0.186 0 0 0 + + model://quadrotor + + + + + + 5 10 0.186 0 0 0 + + model://quadrotor + + + + + + 5 15 0.186 0 0 0 + + model://quadrotor + + + + + + 5 20 0.186 0 0 0 + + model://quadrotor + + + + + + 5 25 0.186 0 0 0 + + model://quadrotor + + + + + + 5 30 0.186 0 0 0 + + model://quadrotor + + + + + + 5 35 0.186 0 0 0 + + model://quadrotor + + + + + + 5 40 0.186 0 0 0 + + model://quadrotor + + + + + + 5 45 0.186 0 0 0 + + model://quadrotor + + + + + + 10 0 0.186 0 0 0 + + model://quadrotor + + + + + + 10 5 0.186 0 0 0 + + model://quadrotor + + + + + + 10 10 0.186 0 0 0 + + model://quadrotor + + + + + + 10 15 0.186 0 0 0 + + model://quadrotor + + + + + + 10 20 0.186 0 0 0 + + model://quadrotor + + + + + + 10 25 0.186 0 0 0 + + model://quadrotor + + + + + + 10 30 0.186 0 0 0 + + model://quadrotor + + + + + + 10 35 0.186 0 0 0 + + model://quadrotor + + + + + + 10 40 0.186 0 0 0 + + model://quadrotor + + + + + + 10 45 0.186 0 0 0 + + model://quadrotor + + + + + + diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_mpi_test.world b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_mpi_test.world new file mode 100644 index 0000000..ac88136 --- /dev/null +++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_mpi_test.world @@ -0,0 +1,81 @@ + + + + + + model://sun + + + + model://kunming_airport + 0 0 0 0 0 0 + + + + 0.68 0.68 0.68 1.0 + + + + 0 + + + + + + + + bebop_0 + bebop_1 + + + bebop_2 + bebop_3 + + + + + 0 + 0.001 + 0 + + + + + 0 5 0.186 0 0 0 + + model://quadrotor + + + + + + 0 -5 0.186 0 0 0 + + model://quadrotor + + + + + + 5 0 0.186 0 0 0 + + model://quadrotor + + + + + + -5 0 0.186 0 0 0 + + model://quadrotor + + + + + + diff --git a/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_tcp_test.world b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_tcp_test.world new file mode 100644 index 0000000..9604601 --- /dev/null +++ b/Gazebo_Hector_Test/src/hector_quadrotor/hector_quadrotor_gazebo/worlds/kunming_airport_distribution_4hector_tcp_test.world @@ -0,0 +1,81 @@ + + + + + + model://sun + + + + model://kunming_airport + 0 0 0 0 0 0 + + + + 0.68 0.68 0.68 1.0 + + + + 0 + + + + + + + + bebop_0 + bebop_1 + + + bebop_2 + bebop_3 + + + + + 0 + 0.001 + 0 + + + + + 0 5 0.186 0 0 0 + + model://quadrotor + + + + + + 0 -5 0.186 0 0 0 + + model://quadrotor + + + + + + 5 0 0.186 0 0 0 + + model://quadrotor + + + + + + -5 0 0.186 0 0 0 + + model://quadrotor + + + + + + diff --git a/gazebo_ros_pkgs/gazebo_ros/launch/empty_world.launch b/gazebo_ros_pkgs/gazebo_ros/launch/empty_world.launch index 887c71b..6ad2b42 100755 --- a/gazebo_ros_pkgs/gazebo_ros/launch/empty_world.launch +++ b/gazebo_ros_pkgs/gazebo_ros/launch/empty_world.launch @@ -35,7 +35,7 @@ - diff --git a/sdformat_for_mpi/sdf/1.0/gazeboid.sdf b/sdformat_for_mpi/sdf/1.0/gazeboid.sdf index 4cb7ae3..5aeb844 100644 --- a/sdformat_for_mpi/sdf/1.0/gazeboid.sdf +++ b/sdformat_for_mpi/sdf/1.0/gazeboid.sdf @@ -5,10 +5,6 @@ The type of the distribution(0:client or 1:server). - - - The ip of the local gazebo. - model name in the local gazebo. diff --git a/sdformat/.gitignore b/sdformat_for_tcp/.gitignore similarity index 100% rename from sdformat/.gitignore rename to sdformat_for_tcp/.gitignore diff --git a/sdformat/AUTHORS b/sdformat_for_tcp/AUTHORS similarity index 100% rename from sdformat/AUTHORS rename to sdformat_for_tcp/AUTHORS diff --git a/sdformat/CMakeLists.txt b/sdformat_for_tcp/CMakeLists.txt similarity index 100% rename from sdformat/CMakeLists.txt rename to sdformat_for_tcp/CMakeLists.txt diff --git a/sdformat/COPYING b/sdformat_for_tcp/COPYING similarity index 100% rename from sdformat/COPYING rename to sdformat_for_tcp/COPYING diff --git a/sdformat/Changelog.md b/sdformat_for_tcp/Changelog.md similarity index 100% rename from sdformat/Changelog.md rename to sdformat_for_tcp/Changelog.md diff --git a/sdformat/INSTALL_WIN32.md b/sdformat_for_tcp/INSTALL_WIN32.md similarity index 100% rename from sdformat/INSTALL_WIN32.md rename to sdformat_for_tcp/INSTALL_WIN32.md diff --git a/sdformat/LICENSE b/sdformat_for_tcp/LICENSE similarity index 100% rename from sdformat/LICENSE rename to sdformat_for_tcp/LICENSE diff --git a/sdformat/Migration.md b/sdformat_for_tcp/Migration.md similarity index 100% rename from sdformat/Migration.md rename to sdformat_for_tcp/Migration.md diff --git a/sdformat/NEWS b/sdformat_for_tcp/NEWS similarity index 100% rename from sdformat/NEWS rename to sdformat_for_tcp/NEWS diff --git a/sdformat/README b/sdformat_for_tcp/README similarity index 100% rename from sdformat/README rename to sdformat_for_tcp/README diff --git a/sdformat/cmake/CodeCoverage.cmake b/sdformat_for_tcp/cmake/CodeCoverage.cmake similarity index 100% rename from sdformat/cmake/CodeCoverage.cmake rename to sdformat_for_tcp/cmake/CodeCoverage.cmake diff --git a/sdformat/cmake/DefaultCFlags.cmake b/sdformat_for_tcp/cmake/DefaultCFlags.cmake similarity index 100% rename from sdformat/cmake/DefaultCFlags.cmake rename to sdformat_for_tcp/cmake/DefaultCFlags.cmake diff --git a/sdformat/cmake/FindOS.cmake b/sdformat_for_tcp/cmake/FindOS.cmake similarity index 100% rename from sdformat/cmake/FindOS.cmake rename to sdformat_for_tcp/cmake/FindOS.cmake diff --git a/sdformat/cmake/FindSSE.cmake b/sdformat_for_tcp/cmake/FindSSE.cmake similarity index 100% rename from sdformat/cmake/FindSSE.cmake rename to sdformat_for_tcp/cmake/FindSSE.cmake diff --git a/sdformat/cmake/HostCFlags.cmake b/sdformat_for_tcp/cmake/HostCFlags.cmake similarity index 100% rename from sdformat/cmake/HostCFlags.cmake rename to sdformat_for_tcp/cmake/HostCFlags.cmake diff --git a/sdformat/cmake/SDFUtils.cmake b/sdformat_for_tcp/cmake/SDFUtils.cmake similarity index 100% rename from sdformat/cmake/SDFUtils.cmake rename to sdformat_for_tcp/cmake/SDFUtils.cmake diff --git a/sdformat/cmake/SearchForStuff.cmake b/sdformat_for_tcp/cmake/SearchForStuff.cmake similarity index 100% rename from sdformat/cmake/SearchForStuff.cmake rename to sdformat_for_tcp/cmake/SearchForStuff.cmake diff --git a/sdformat/cmake/TargetArch.cmake b/sdformat_for_tcp/cmake/TargetArch.cmake similarity index 100% rename from sdformat/cmake/TargetArch.cmake rename to sdformat_for_tcp/cmake/TargetArch.cmake diff --git a/sdformat/cmake/cmake_uninstall.cmake.in b/sdformat_for_tcp/cmake/cmake_uninstall.cmake.in similarity index 100% rename from sdformat/cmake/cmake_uninstall.cmake.in rename to sdformat_for_tcp/cmake/cmake_uninstall.cmake.in diff --git a/sdformat/cmake/cpack_options.cmake.in b/sdformat_for_tcp/cmake/cpack_options.cmake.in similarity index 100% rename from sdformat/cmake/cpack_options.cmake.in rename to sdformat_for_tcp/cmake/cpack_options.cmake.in diff --git a/sdformat/cmake/sdf_config.cmake.in b/sdformat_for_tcp/cmake/sdf_config.cmake.in similarity index 100% rename from sdformat/cmake/sdf_config.cmake.in rename to sdformat_for_tcp/cmake/sdf_config.cmake.in diff --git a/sdformat/cmake/sdf_config.h.in b/sdformat_for_tcp/cmake/sdf_config.h.in similarity index 100% rename from sdformat/cmake/sdf_config.h.in rename to sdformat_for_tcp/cmake/sdf_config.h.in diff --git a/sdformat/cmake/sdf_cpack.cmake b/sdformat_for_tcp/cmake/sdf_cpack.cmake similarity index 100% rename from sdformat/cmake/sdf_cpack.cmake rename to sdformat_for_tcp/cmake/sdf_cpack.cmake diff --git a/sdformat/cmake/sdformat_pc.in b/sdformat_for_tcp/cmake/sdformat_pc.in similarity index 100% rename from sdformat/cmake/sdformat_pc.in rename to sdformat_for_tcp/cmake/sdformat_pc.in diff --git a/sdformat/cmake/upload_doc.sh.in b/sdformat_for_tcp/cmake/upload_doc.sh.in similarity index 100% rename from sdformat/cmake/upload_doc.sh.in rename to sdformat_for_tcp/cmake/upload_doc.sh.in diff --git a/sdformat/configure.bat b/sdformat_for_tcp/configure.bat similarity index 100% rename from sdformat/configure.bat rename to sdformat_for_tcp/configure.bat diff --git a/sdformat/doc/CMakeLists.txt b/sdformat_for_tcp/doc/CMakeLists.txt similarity index 100% rename from sdformat/doc/CMakeLists.txt rename to sdformat_for_tcp/doc/CMakeLists.txt diff --git a/sdformat/doc/doxygen.css b/sdformat_for_tcp/doc/doxygen.css similarity index 100% rename from sdformat/doc/doxygen.css rename to sdformat_for_tcp/doc/doxygen.css diff --git a/sdformat/doc/footer.html b/sdformat_for_tcp/doc/footer.html similarity index 100% rename from sdformat/doc/footer.html rename to sdformat_for_tcp/doc/footer.html diff --git a/sdformat/doc/header.html b/sdformat_for_tcp/doc/header.html similarity index 100% rename from sdformat/doc/header.html rename to sdformat_for_tcp/doc/header.html diff --git a/sdformat/doc/mainpage.html b/sdformat_for_tcp/doc/mainpage.html similarity index 100% rename from sdformat/doc/mainpage.html rename to sdformat_for_tcp/doc/mainpage.html diff --git a/sdformat/doc/sdf.in b/sdformat_for_tcp/doc/sdf.in similarity index 100% rename from sdformat/doc/sdf.in rename to sdformat_for_tcp/doc/sdf.in diff --git a/sdformat/doc/sdf_logo.png b/sdformat_for_tcp/doc/sdf_logo.png similarity index 100% rename from sdformat/doc/sdf_logo.png rename to sdformat_for_tcp/doc/sdf_logo.png diff --git a/sdformat/doc/sdf_logo.svg b/sdformat_for_tcp/doc/sdf_logo.svg similarity index 100% rename from sdformat/doc/sdf_logo.svg rename to sdformat_for_tcp/doc/sdf_logo.svg diff --git a/sdformat/doc/search.js b/sdformat_for_tcp/doc/search.js similarity index 100% rename from sdformat/doc/search.js rename to sdformat_for_tcp/doc/search.js diff --git a/sdformat/doc/style.css b/sdformat_for_tcp/doc/style.css similarity index 100% rename from sdformat/doc/style.css rename to sdformat_for_tcp/doc/style.css diff --git a/sdformat/include/sdf/Assert.hh b/sdformat_for_tcp/include/sdf/Assert.hh similarity index 100% rename from sdformat/include/sdf/Assert.hh rename to sdformat_for_tcp/include/sdf/Assert.hh diff --git a/sdformat/include/sdf/CMakeLists.txt b/sdformat_for_tcp/include/sdf/CMakeLists.txt similarity index 100% rename from sdformat/include/sdf/CMakeLists.txt rename to sdformat_for_tcp/include/sdf/CMakeLists.txt diff --git a/sdformat/include/sdf/Console.hh b/sdformat_for_tcp/include/sdf/Console.hh similarity index 100% rename from sdformat/include/sdf/Console.hh rename to sdformat_for_tcp/include/sdf/Console.hh diff --git a/sdformat/include/sdf/Converter.hh b/sdformat_for_tcp/include/sdf/Converter.hh similarity index 100% rename from sdformat/include/sdf/Converter.hh rename to sdformat_for_tcp/include/sdf/Converter.hh diff --git a/sdformat/include/sdf/Element.hh b/sdformat_for_tcp/include/sdf/Element.hh similarity index 100% rename from sdformat/include/sdf/Element.hh rename to sdformat_for_tcp/include/sdf/Element.hh diff --git a/sdformat/include/sdf/Exception.hh b/sdformat_for_tcp/include/sdf/Exception.hh similarity index 100% rename from sdformat/include/sdf/Exception.hh rename to sdformat_for_tcp/include/sdf/Exception.hh diff --git a/sdformat/include/sdf/ExceptionPrivate.hh b/sdformat_for_tcp/include/sdf/ExceptionPrivate.hh similarity index 100% rename from sdformat/include/sdf/ExceptionPrivate.hh rename to sdformat_for_tcp/include/sdf/ExceptionPrivate.hh diff --git a/sdformat/include/sdf/Param.hh b/sdformat_for_tcp/include/sdf/Param.hh similarity index 100% rename from sdformat/include/sdf/Param.hh rename to sdformat_for_tcp/include/sdf/Param.hh diff --git a/sdformat/include/sdf/SDFExtension.hh b/sdformat_for_tcp/include/sdf/SDFExtension.hh similarity index 100% rename from sdformat/include/sdf/SDFExtension.hh rename to sdformat_for_tcp/include/sdf/SDFExtension.hh diff --git a/sdformat/include/sdf/SDFImpl.hh b/sdformat_for_tcp/include/sdf/SDFImpl.hh similarity index 100% rename from sdformat/include/sdf/SDFImpl.hh rename to sdformat_for_tcp/include/sdf/SDFImpl.hh diff --git a/sdformat/include/sdf/Types.hh b/sdformat_for_tcp/include/sdf/Types.hh similarity index 100% rename from sdformat/include/sdf/Types.hh rename to sdformat_for_tcp/include/sdf/Types.hh diff --git a/sdformat/include/sdf/parser.hh b/sdformat_for_tcp/include/sdf/parser.hh similarity index 100% rename from sdformat/include/sdf/parser.hh rename to sdformat_for_tcp/include/sdf/parser.hh diff --git a/sdformat/include/sdf/parser_urdf.hh b/sdformat_for_tcp/include/sdf/parser_urdf.hh similarity index 100% rename from sdformat/include/sdf/parser_urdf.hh rename to sdformat_for_tcp/include/sdf/parser_urdf.hh diff --git a/sdformat/include/sdf/sdf.hh.in b/sdformat_for_tcp/include/sdf/sdf.hh.in similarity index 100% rename from sdformat/include/sdf/sdf.hh.in rename to sdformat_for_tcp/include/sdf/sdf.hh.in diff --git a/sdformat/include/sdf/system_util.hh b/sdformat_for_tcp/include/sdf/system_util.hh similarity index 100% rename from sdformat/include/sdf/system_util.hh rename to sdformat_for_tcp/include/sdf/system_util.hh diff --git a/sdformat/sdf/1.0/CMakeLists.txt b/sdformat_for_tcp/sdf/1.0/CMakeLists.txt similarity index 100% rename from sdformat/sdf/1.0/CMakeLists.txt rename to sdformat_for_tcp/sdf/1.0/CMakeLists.txt diff --git a/sdformat/sdf/1.0/actor.sdf b/sdformat_for_tcp/sdf/1.0/actor.sdf similarity index 100% rename from sdformat/sdf/1.0/actor.sdf rename to sdformat_for_tcp/sdf/1.0/actor.sdf diff --git a/sdformat/sdf/1.0/camera.sdf b/sdformat_for_tcp/sdf/1.0/camera.sdf similarity index 100% rename from sdformat/sdf/1.0/camera.sdf rename to sdformat_for_tcp/sdf/1.0/camera.sdf diff --git a/sdformat/sdf/1.0/collision.sdf b/sdformat_for_tcp/sdf/1.0/collision.sdf similarity index 100% rename from sdformat/sdf/1.0/collision.sdf rename to sdformat_for_tcp/sdf/1.0/collision.sdf diff --git a/sdformat/sdf/1.0/contact.sdf b/sdformat_for_tcp/sdf/1.0/contact.sdf similarity index 100% rename from sdformat/sdf/1.0/contact.sdf rename to sdformat_for_tcp/sdf/1.0/contact.sdf diff --git a/sdformat/sdf/1.0/distribution.sdf b/sdformat_for_tcp/sdf/1.0/distribution.sdf similarity index 100% rename from sdformat/sdf/1.0/distribution.sdf rename to sdformat_for_tcp/sdf/1.0/distribution.sdf diff --git a/sdformat/sdf/1.0/event.sdf b/sdformat_for_tcp/sdf/1.0/event.sdf similarity index 100% rename from sdformat/sdf/1.0/event.sdf rename to sdformat_for_tcp/sdf/1.0/event.sdf diff --git a/sdformat/sdf/1.0/gazebo.sdf b/sdformat_for_tcp/sdf/1.0/gazebo.sdf similarity index 100% rename from sdformat/sdf/1.0/gazebo.sdf rename to sdformat_for_tcp/sdf/1.0/gazebo.sdf diff --git a/sdformat/sdf/1.0/gazeboid.sdf b/sdformat_for_tcp/sdf/1.0/gazeboid.sdf similarity index 100% rename from sdformat/sdf/1.0/gazeboid.sdf rename to sdformat_for_tcp/sdf/1.0/gazeboid.sdf diff --git a/sdformat/sdf/1.0/geometry.sdf b/sdformat_for_tcp/sdf/1.0/geometry.sdf similarity index 100% rename from sdformat/sdf/1.0/geometry.sdf rename to sdformat_for_tcp/sdf/1.0/geometry.sdf diff --git a/sdformat/sdf/1.0/gripper.sdf b/sdformat_for_tcp/sdf/1.0/gripper.sdf similarity index 100% rename from sdformat/sdf/1.0/gripper.sdf rename to sdformat_for_tcp/sdf/1.0/gripper.sdf diff --git a/sdformat/sdf/1.0/gui.sdf b/sdformat_for_tcp/sdf/1.0/gui.sdf similarity index 100% rename from sdformat/sdf/1.0/gui.sdf rename to sdformat_for_tcp/sdf/1.0/gui.sdf diff --git a/sdformat/sdf/1.0/inertial.sdf b/sdformat_for_tcp/sdf/1.0/inertial.sdf similarity index 100% rename from sdformat/sdf/1.0/inertial.sdf rename to sdformat_for_tcp/sdf/1.0/inertial.sdf diff --git a/sdformat/sdf/1.0/joint.sdf b/sdformat_for_tcp/sdf/1.0/joint.sdf similarity index 100% rename from sdformat/sdf/1.0/joint.sdf rename to sdformat_for_tcp/sdf/1.0/joint.sdf diff --git a/sdformat/sdf/1.0/light.sdf b/sdformat_for_tcp/sdf/1.0/light.sdf similarity index 100% rename from sdformat/sdf/1.0/light.sdf rename to sdformat_for_tcp/sdf/1.0/light.sdf diff --git a/sdformat/sdf/1.0/link.sdf b/sdformat_for_tcp/sdf/1.0/link.sdf similarity index 100% rename from sdformat/sdf/1.0/link.sdf rename to sdformat_for_tcp/sdf/1.0/link.sdf diff --git a/sdformat/sdf/1.0/model.sdf b/sdformat_for_tcp/sdf/1.0/model.sdf similarity index 100% rename from sdformat/sdf/1.0/model.sdf rename to sdformat_for_tcp/sdf/1.0/model.sdf diff --git a/sdformat/sdf/1.0/physics.sdf b/sdformat_for_tcp/sdf/1.0/physics.sdf similarity index 100% rename from sdformat/sdf/1.0/physics.sdf rename to sdformat_for_tcp/sdf/1.0/physics.sdf diff --git a/sdformat/sdf/1.0/plugin.sdf b/sdformat_for_tcp/sdf/1.0/plugin.sdf similarity index 100% rename from sdformat/sdf/1.0/plugin.sdf rename to sdformat_for_tcp/sdf/1.0/plugin.sdf diff --git a/sdformat/sdf/1.0/projector.sdf b/sdformat_for_tcp/sdf/1.0/projector.sdf similarity index 100% rename from sdformat/sdf/1.0/projector.sdf rename to sdformat_for_tcp/sdf/1.0/projector.sdf diff --git a/sdformat/sdf/1.0/ray.sdf b/sdformat_for_tcp/sdf/1.0/ray.sdf similarity index 100% rename from sdformat/sdf/1.0/ray.sdf rename to sdformat_for_tcp/sdf/1.0/ray.sdf diff --git a/sdformat/sdf/1.0/rfid.sdf b/sdformat_for_tcp/sdf/1.0/rfid.sdf similarity index 100% rename from sdformat/sdf/1.0/rfid.sdf rename to sdformat_for_tcp/sdf/1.0/rfid.sdf diff --git a/sdformat/sdf/1.0/rfidtag.sdf b/sdformat_for_tcp/sdf/1.0/rfidtag.sdf similarity index 100% rename from sdformat/sdf/1.0/rfidtag.sdf rename to sdformat_for_tcp/sdf/1.0/rfidtag.sdf diff --git a/sdformat/sdf/1.0/road.sdf b/sdformat_for_tcp/sdf/1.0/road.sdf similarity index 100% rename from sdformat/sdf/1.0/road.sdf rename to sdformat_for_tcp/sdf/1.0/road.sdf diff --git a/sdformat/sdf/1.0/scene.sdf b/sdformat_for_tcp/sdf/1.0/scene.sdf similarity index 100% rename from sdformat/sdf/1.0/scene.sdf rename to sdformat_for_tcp/sdf/1.0/scene.sdf diff --git a/sdformat/sdf/1.0/sensor.sdf b/sdformat_for_tcp/sdf/1.0/sensor.sdf similarity index 100% rename from sdformat/sdf/1.0/sensor.sdf rename to sdformat_for_tcp/sdf/1.0/sensor.sdf diff --git a/sdformat/sdf/1.0/state.sdf b/sdformat_for_tcp/sdf/1.0/state.sdf similarity index 100% rename from sdformat/sdf/1.0/state.sdf rename to sdformat_for_tcp/sdf/1.0/state.sdf diff --git a/sdformat/sdf/1.0/surface.sdf b/sdformat_for_tcp/sdf/1.0/surface.sdf similarity index 100% rename from sdformat/sdf/1.0/surface.sdf rename to sdformat_for_tcp/sdf/1.0/surface.sdf diff --git a/sdformat/sdf/1.0/visual.sdf b/sdformat_for_tcp/sdf/1.0/visual.sdf similarity index 100% rename from sdformat/sdf/1.0/visual.sdf rename to sdformat_for_tcp/sdf/1.0/visual.sdf diff --git a/sdformat/sdf/1.0/world.sdf b/sdformat_for_tcp/sdf/1.0/world.sdf similarity index 100% rename from sdformat/sdf/1.0/world.sdf rename to sdformat_for_tcp/sdf/1.0/world.sdf diff --git a/sdformat/sdf/1.2/1_0.convert b/sdformat_for_tcp/sdf/1.2/1_0.convert similarity index 100% rename from sdformat/sdf/1.2/1_0.convert rename to sdformat_for_tcp/sdf/1.2/1_0.convert diff --git a/sdformat/sdf/1.2/CMakeLists.txt b/sdformat_for_tcp/sdf/1.2/CMakeLists.txt similarity index 100% rename from sdformat/sdf/1.2/CMakeLists.txt rename to sdformat_for_tcp/sdf/1.2/CMakeLists.txt diff --git a/sdformat/sdf/1.2/actor.sdf b/sdformat_for_tcp/sdf/1.2/actor.sdf similarity index 100% rename from sdformat/sdf/1.2/actor.sdf rename to sdformat_for_tcp/sdf/1.2/actor.sdf diff --git a/sdformat/sdf/1.2/camera.sdf b/sdformat_for_tcp/sdf/1.2/camera.sdf similarity index 100% rename from sdformat/sdf/1.2/camera.sdf rename to sdformat_for_tcp/sdf/1.2/camera.sdf diff --git a/sdformat/sdf/1.2/collision.sdf b/sdformat_for_tcp/sdf/1.2/collision.sdf similarity index 100% rename from sdformat/sdf/1.2/collision.sdf rename to sdformat_for_tcp/sdf/1.2/collision.sdf diff --git a/sdformat/sdf/1.2/contact.sdf b/sdformat_for_tcp/sdf/1.2/contact.sdf similarity index 100% rename from sdformat/sdf/1.2/contact.sdf rename to sdformat_for_tcp/sdf/1.2/contact.sdf diff --git a/sdformat/sdf/1.2/distribution.sdf b/sdformat_for_tcp/sdf/1.2/distribution.sdf similarity index 100% rename from sdformat/sdf/1.2/distribution.sdf rename to sdformat_for_tcp/sdf/1.2/distribution.sdf diff --git a/sdformat/sdf/1.2/event.sdf b/sdformat_for_tcp/sdf/1.2/event.sdf similarity index 100% rename from sdformat/sdf/1.2/event.sdf rename to sdformat_for_tcp/sdf/1.2/event.sdf diff --git a/sdformat/sdf/1.2/gazebo.sdf b/sdformat_for_tcp/sdf/1.2/gazebo.sdf similarity index 100% rename from sdformat/sdf/1.2/gazebo.sdf rename to sdformat_for_tcp/sdf/1.2/gazebo.sdf diff --git a/sdformat/sdf/1.2/gazeboid.sdf b/sdformat_for_tcp/sdf/1.2/gazeboid.sdf similarity index 100% rename from sdformat/sdf/1.2/gazeboid.sdf rename to sdformat_for_tcp/sdf/1.2/gazeboid.sdf diff --git a/sdformat/sdf/1.2/geometry.sdf b/sdformat_for_tcp/sdf/1.2/geometry.sdf similarity index 100% rename from sdformat/sdf/1.2/geometry.sdf rename to sdformat_for_tcp/sdf/1.2/geometry.sdf diff --git a/sdformat/sdf/1.2/gripper.sdf b/sdformat_for_tcp/sdf/1.2/gripper.sdf similarity index 100% rename from sdformat/sdf/1.2/gripper.sdf rename to sdformat_for_tcp/sdf/1.2/gripper.sdf diff --git a/sdformat/sdf/1.2/gui.sdf b/sdformat_for_tcp/sdf/1.2/gui.sdf similarity index 100% rename from sdformat/sdf/1.2/gui.sdf rename to sdformat_for_tcp/sdf/1.2/gui.sdf diff --git a/sdformat/sdf/1.2/inertial.sdf b/sdformat_for_tcp/sdf/1.2/inertial.sdf similarity index 100% rename from sdformat/sdf/1.2/inertial.sdf rename to sdformat_for_tcp/sdf/1.2/inertial.sdf diff --git a/sdformat/sdf/1.2/joint.sdf b/sdformat_for_tcp/sdf/1.2/joint.sdf similarity index 100% rename from sdformat/sdf/1.2/joint.sdf rename to sdformat_for_tcp/sdf/1.2/joint.sdf diff --git a/sdformat/sdf/1.2/light.sdf b/sdformat_for_tcp/sdf/1.2/light.sdf similarity index 100% rename from sdformat/sdf/1.2/light.sdf rename to sdformat_for_tcp/sdf/1.2/light.sdf diff --git a/sdformat/sdf/1.2/link.sdf b/sdformat_for_tcp/sdf/1.2/link.sdf similarity index 100% rename from sdformat/sdf/1.2/link.sdf rename to sdformat_for_tcp/sdf/1.2/link.sdf diff --git a/sdformat/sdf/1.2/model.sdf b/sdformat_for_tcp/sdf/1.2/model.sdf similarity index 100% rename from sdformat/sdf/1.2/model.sdf rename to sdformat_for_tcp/sdf/1.2/model.sdf diff --git a/sdformat/sdf/1.2/physics.sdf b/sdformat_for_tcp/sdf/1.2/physics.sdf similarity index 100% rename from sdformat/sdf/1.2/physics.sdf rename to sdformat_for_tcp/sdf/1.2/physics.sdf diff --git a/sdformat/sdf/1.2/plugin.sdf b/sdformat_for_tcp/sdf/1.2/plugin.sdf similarity index 100% rename from sdformat/sdf/1.2/plugin.sdf rename to sdformat_for_tcp/sdf/1.2/plugin.sdf diff --git a/sdformat/sdf/1.2/projector.sdf b/sdformat_for_tcp/sdf/1.2/projector.sdf similarity index 100% rename from sdformat/sdf/1.2/projector.sdf rename to sdformat_for_tcp/sdf/1.2/projector.sdf diff --git a/sdformat/sdf/1.2/ray.sdf b/sdformat_for_tcp/sdf/1.2/ray.sdf similarity index 100% rename from sdformat/sdf/1.2/ray.sdf rename to sdformat_for_tcp/sdf/1.2/ray.sdf diff --git a/sdformat/sdf/1.2/rfid.sdf b/sdformat_for_tcp/sdf/1.2/rfid.sdf similarity index 100% rename from sdformat/sdf/1.2/rfid.sdf rename to sdformat_for_tcp/sdf/1.2/rfid.sdf diff --git a/sdformat/sdf/1.2/rfidtag.sdf b/sdformat_for_tcp/sdf/1.2/rfidtag.sdf similarity index 100% rename from sdformat/sdf/1.2/rfidtag.sdf rename to sdformat_for_tcp/sdf/1.2/rfidtag.sdf diff --git a/sdformat/sdf/1.2/road.sdf b/sdformat_for_tcp/sdf/1.2/road.sdf similarity index 100% rename from sdformat/sdf/1.2/road.sdf rename to sdformat_for_tcp/sdf/1.2/road.sdf diff --git a/sdformat/sdf/1.2/scene.sdf b/sdformat_for_tcp/sdf/1.2/scene.sdf similarity index 100% rename from sdformat/sdf/1.2/scene.sdf rename to sdformat_for_tcp/sdf/1.2/scene.sdf diff --git a/sdformat/sdf/1.2/sensor.sdf b/sdformat_for_tcp/sdf/1.2/sensor.sdf similarity index 100% rename from sdformat/sdf/1.2/sensor.sdf rename to sdformat_for_tcp/sdf/1.2/sensor.sdf diff --git a/sdformat/sdf/1.2/server.sdf b/sdformat_for_tcp/sdf/1.2/server.sdf similarity index 100% rename from sdformat/sdf/1.2/server.sdf rename to sdformat_for_tcp/sdf/1.2/server.sdf diff --git a/sdformat/sdf/1.2/state.sdf b/sdformat_for_tcp/sdf/1.2/state.sdf similarity index 100% rename from sdformat/sdf/1.2/state.sdf rename to sdformat_for_tcp/sdf/1.2/state.sdf diff --git a/sdformat/sdf/1.2/surface.sdf b/sdformat_for_tcp/sdf/1.2/surface.sdf similarity index 100% rename from sdformat/sdf/1.2/surface.sdf rename to sdformat_for_tcp/sdf/1.2/surface.sdf diff --git a/sdformat/sdf/1.2/urdf.sdf b/sdformat_for_tcp/sdf/1.2/urdf.sdf similarity index 100% rename from sdformat/sdf/1.2/urdf.sdf rename to sdformat_for_tcp/sdf/1.2/urdf.sdf diff --git a/sdformat/sdf/1.2/visual.sdf b/sdformat_for_tcp/sdf/1.2/visual.sdf similarity index 100% rename from sdformat/sdf/1.2/visual.sdf rename to sdformat_for_tcp/sdf/1.2/visual.sdf diff --git a/sdformat/sdf/1.2/world.sdf b/sdformat_for_tcp/sdf/1.2/world.sdf similarity index 100% rename from sdformat/sdf/1.2/world.sdf rename to sdformat_for_tcp/sdf/1.2/world.sdf diff --git a/sdformat/sdf/1.3/1_2.convert b/sdformat_for_tcp/sdf/1.3/1_2.convert similarity index 100% rename from sdformat/sdf/1.3/1_2.convert rename to sdformat_for_tcp/sdf/1.3/1_2.convert diff --git a/sdformat/sdf/1.3/CMakeLists.txt b/sdformat_for_tcp/sdf/1.3/CMakeLists.txt similarity index 100% rename from sdformat/sdf/1.3/CMakeLists.txt rename to sdformat_for_tcp/sdf/1.3/CMakeLists.txt diff --git a/sdformat/sdf/1.3/actor.sdf b/sdformat_for_tcp/sdf/1.3/actor.sdf similarity index 100% rename from sdformat/sdf/1.3/actor.sdf rename to sdformat_for_tcp/sdf/1.3/actor.sdf diff --git a/sdformat/sdf/1.3/camera.sdf b/sdformat_for_tcp/sdf/1.3/camera.sdf similarity index 100% rename from sdformat/sdf/1.3/camera.sdf rename to sdformat_for_tcp/sdf/1.3/camera.sdf diff --git a/sdformat/sdf/1.3/collision.sdf b/sdformat_for_tcp/sdf/1.3/collision.sdf similarity index 100% rename from sdformat/sdf/1.3/collision.sdf rename to sdformat_for_tcp/sdf/1.3/collision.sdf diff --git a/sdformat/sdf/1.3/contact.sdf b/sdformat_for_tcp/sdf/1.3/contact.sdf similarity index 100% rename from sdformat/sdf/1.3/contact.sdf rename to sdformat_for_tcp/sdf/1.3/contact.sdf diff --git a/sdformat/sdf/1.3/distribution.sdf b/sdformat_for_tcp/sdf/1.3/distribution.sdf similarity index 100% rename from sdformat/sdf/1.3/distribution.sdf rename to sdformat_for_tcp/sdf/1.3/distribution.sdf diff --git a/sdformat/sdf/1.3/event.sdf b/sdformat_for_tcp/sdf/1.3/event.sdf similarity index 100% rename from sdformat/sdf/1.3/event.sdf rename to sdformat_for_tcp/sdf/1.3/event.sdf diff --git a/sdformat/sdf/1.3/gazeboid.sdf b/sdformat_for_tcp/sdf/1.3/gazeboid.sdf similarity index 100% rename from sdformat/sdf/1.3/gazeboid.sdf rename to sdformat_for_tcp/sdf/1.3/gazeboid.sdf diff --git a/sdformat/sdf/1.3/geometry.sdf b/sdformat_for_tcp/sdf/1.3/geometry.sdf similarity index 100% rename from sdformat/sdf/1.3/geometry.sdf rename to sdformat_for_tcp/sdf/1.3/geometry.sdf diff --git a/sdformat/sdf/1.3/gripper.sdf b/sdformat_for_tcp/sdf/1.3/gripper.sdf similarity index 100% rename from sdformat/sdf/1.3/gripper.sdf rename to sdformat_for_tcp/sdf/1.3/gripper.sdf diff --git a/sdformat/sdf/1.3/gui.sdf b/sdformat_for_tcp/sdf/1.3/gui.sdf similarity index 100% rename from sdformat/sdf/1.3/gui.sdf rename to sdformat_for_tcp/sdf/1.3/gui.sdf diff --git a/sdformat/sdf/1.3/imu.sdf b/sdformat_for_tcp/sdf/1.3/imu.sdf similarity index 100% rename from sdformat/sdf/1.3/imu.sdf rename to sdformat_for_tcp/sdf/1.3/imu.sdf diff --git a/sdformat/sdf/1.3/inertial.sdf b/sdformat_for_tcp/sdf/1.3/inertial.sdf similarity index 100% rename from sdformat/sdf/1.3/inertial.sdf rename to sdformat_for_tcp/sdf/1.3/inertial.sdf diff --git a/sdformat/sdf/1.3/joint.sdf b/sdformat_for_tcp/sdf/1.3/joint.sdf similarity index 100% rename from sdformat/sdf/1.3/joint.sdf rename to sdformat_for_tcp/sdf/1.3/joint.sdf diff --git a/sdformat/sdf/1.3/light.sdf b/sdformat_for_tcp/sdf/1.3/light.sdf similarity index 100% rename from sdformat/sdf/1.3/light.sdf rename to sdformat_for_tcp/sdf/1.3/light.sdf diff --git a/sdformat/sdf/1.3/link.sdf b/sdformat_for_tcp/sdf/1.3/link.sdf similarity index 100% rename from sdformat/sdf/1.3/link.sdf rename to sdformat_for_tcp/sdf/1.3/link.sdf diff --git a/sdformat/sdf/1.3/model.sdf b/sdformat_for_tcp/sdf/1.3/model.sdf similarity index 100% rename from sdformat/sdf/1.3/model.sdf rename to sdformat_for_tcp/sdf/1.3/model.sdf diff --git a/sdformat/sdf/1.3/physics.sdf b/sdformat_for_tcp/sdf/1.3/physics.sdf similarity index 100% rename from sdformat/sdf/1.3/physics.sdf rename to sdformat_for_tcp/sdf/1.3/physics.sdf diff --git a/sdformat/sdf/1.3/plugin.sdf b/sdformat_for_tcp/sdf/1.3/plugin.sdf similarity index 100% rename from sdformat/sdf/1.3/plugin.sdf rename to sdformat_for_tcp/sdf/1.3/plugin.sdf diff --git a/sdformat/sdf/1.3/projector.sdf b/sdformat_for_tcp/sdf/1.3/projector.sdf similarity index 100% rename from sdformat/sdf/1.3/projector.sdf rename to sdformat_for_tcp/sdf/1.3/projector.sdf diff --git a/sdformat/sdf/1.3/ray.sdf b/sdformat_for_tcp/sdf/1.3/ray.sdf similarity index 100% rename from sdformat/sdf/1.3/ray.sdf rename to sdformat_for_tcp/sdf/1.3/ray.sdf diff --git a/sdformat/sdf/1.3/rfid.sdf b/sdformat_for_tcp/sdf/1.3/rfid.sdf similarity index 100% rename from sdformat/sdf/1.3/rfid.sdf rename to sdformat_for_tcp/sdf/1.3/rfid.sdf diff --git a/sdformat/sdf/1.3/rfidtag.sdf b/sdformat_for_tcp/sdf/1.3/rfidtag.sdf similarity index 100% rename from sdformat/sdf/1.3/rfidtag.sdf rename to sdformat_for_tcp/sdf/1.3/rfidtag.sdf diff --git a/sdformat/sdf/1.3/road.sdf b/sdformat_for_tcp/sdf/1.3/road.sdf similarity index 100% rename from sdformat/sdf/1.3/road.sdf rename to sdformat_for_tcp/sdf/1.3/road.sdf diff --git a/sdformat/sdf/1.3/root.sdf b/sdformat_for_tcp/sdf/1.3/root.sdf similarity index 100% rename from sdformat/sdf/1.3/root.sdf rename to sdformat_for_tcp/sdf/1.3/root.sdf diff --git a/sdformat/sdf/1.3/scene.sdf b/sdformat_for_tcp/sdf/1.3/scene.sdf similarity index 100% rename from sdformat/sdf/1.3/scene.sdf rename to sdformat_for_tcp/sdf/1.3/scene.sdf diff --git a/sdformat/sdf/1.3/sensor.sdf b/sdformat_for_tcp/sdf/1.3/sensor.sdf similarity index 100% rename from sdformat/sdf/1.3/sensor.sdf rename to sdformat_for_tcp/sdf/1.3/sensor.sdf diff --git a/sdformat/sdf/1.3/server.sdf b/sdformat_for_tcp/sdf/1.3/server.sdf similarity index 100% rename from sdformat/sdf/1.3/server.sdf rename to sdformat_for_tcp/sdf/1.3/server.sdf diff --git a/sdformat/sdf/1.3/state.sdf b/sdformat_for_tcp/sdf/1.3/state.sdf similarity index 100% rename from sdformat/sdf/1.3/state.sdf rename to sdformat_for_tcp/sdf/1.3/state.sdf diff --git a/sdformat/sdf/1.3/surface.sdf b/sdformat_for_tcp/sdf/1.3/surface.sdf similarity index 100% rename from sdformat/sdf/1.3/surface.sdf rename to sdformat_for_tcp/sdf/1.3/surface.sdf diff --git a/sdformat/sdf/1.3/urdf.sdf b/sdformat_for_tcp/sdf/1.3/urdf.sdf similarity index 100% rename from sdformat/sdf/1.3/urdf.sdf rename to sdformat_for_tcp/sdf/1.3/urdf.sdf diff --git a/sdformat/sdf/1.3/visual.sdf b/sdformat_for_tcp/sdf/1.3/visual.sdf similarity index 100% rename from sdformat/sdf/1.3/visual.sdf rename to sdformat_for_tcp/sdf/1.3/visual.sdf diff --git a/sdformat/sdf/1.3/world.sdf b/sdformat_for_tcp/sdf/1.3/world.sdf similarity index 100% rename from sdformat/sdf/1.3/world.sdf rename to sdformat_for_tcp/sdf/1.3/world.sdf diff --git a/sdformat/sdf/1.4/1_3.convert b/sdformat_for_tcp/sdf/1.4/1_3.convert similarity index 100% rename from sdformat/sdf/1.4/1_3.convert rename to sdformat_for_tcp/sdf/1.4/1_3.convert diff --git a/sdformat/sdf/1.4/CMakeLists.txt b/sdformat_for_tcp/sdf/1.4/CMakeLists.txt similarity index 100% rename from sdformat/sdf/1.4/CMakeLists.txt rename to sdformat_for_tcp/sdf/1.4/CMakeLists.txt diff --git a/sdformat/sdf/1.4/actor.sdf b/sdformat_for_tcp/sdf/1.4/actor.sdf similarity index 100% rename from sdformat/sdf/1.4/actor.sdf rename to sdformat_for_tcp/sdf/1.4/actor.sdf diff --git a/sdformat/sdf/1.4/audio_sink.sdf b/sdformat_for_tcp/sdf/1.4/audio_sink.sdf similarity index 100% rename from sdformat/sdf/1.4/audio_sink.sdf rename to sdformat_for_tcp/sdf/1.4/audio_sink.sdf diff --git a/sdformat/sdf/1.4/audio_source.sdf b/sdformat_for_tcp/sdf/1.4/audio_source.sdf similarity index 100% rename from sdformat/sdf/1.4/audio_source.sdf rename to sdformat_for_tcp/sdf/1.4/audio_source.sdf diff --git a/sdformat/sdf/1.4/box_shape.sdf b/sdformat_for_tcp/sdf/1.4/box_shape.sdf similarity index 100% rename from sdformat/sdf/1.4/box_shape.sdf rename to sdformat_for_tcp/sdf/1.4/box_shape.sdf diff --git a/sdformat/sdf/1.4/camera.sdf b/sdformat_for_tcp/sdf/1.4/camera.sdf similarity index 100% rename from sdformat/sdf/1.4/camera.sdf rename to sdformat_for_tcp/sdf/1.4/camera.sdf diff --git a/sdformat/sdf/1.4/collision.sdf b/sdformat_for_tcp/sdf/1.4/collision.sdf similarity index 100% rename from sdformat/sdf/1.4/collision.sdf rename to sdformat_for_tcp/sdf/1.4/collision.sdf diff --git a/sdformat/sdf/1.4/collision_engine.sdf b/sdformat_for_tcp/sdf/1.4/collision_engine.sdf similarity index 100% rename from sdformat/sdf/1.4/collision_engine.sdf rename to sdformat_for_tcp/sdf/1.4/collision_engine.sdf diff --git a/sdformat/sdf/1.4/contact.sdf b/sdformat_for_tcp/sdf/1.4/contact.sdf similarity index 100% rename from sdformat/sdf/1.4/contact.sdf rename to sdformat_for_tcp/sdf/1.4/contact.sdf diff --git a/sdformat/sdf/1.4/cylinder_shape.sdf b/sdformat_for_tcp/sdf/1.4/cylinder_shape.sdf similarity index 100% rename from sdformat/sdf/1.4/cylinder_shape.sdf rename to sdformat_for_tcp/sdf/1.4/cylinder_shape.sdf diff --git a/sdformat/sdf/1.4/distribution.sdf b/sdformat_for_tcp/sdf/1.4/distribution.sdf similarity index 100% rename from sdformat/sdf/1.4/distribution.sdf rename to sdformat_for_tcp/sdf/1.4/distribution.sdf diff --git a/sdformat/sdf/1.4/event.sdf b/sdformat_for_tcp/sdf/1.4/event.sdf similarity index 100% rename from sdformat/sdf/1.4/event.sdf rename to sdformat_for_tcp/sdf/1.4/event.sdf diff --git a/sdformat/sdf/1.4/forcetorque.sdf b/sdformat_for_tcp/sdf/1.4/forcetorque.sdf similarity index 100% rename from sdformat/sdf/1.4/forcetorque.sdf rename to sdformat_for_tcp/sdf/1.4/forcetorque.sdf diff --git a/sdformat/sdf/1.4/gazeboid.sdf b/sdformat_for_tcp/sdf/1.4/gazeboid.sdf similarity index 100% rename from sdformat/sdf/1.4/gazeboid.sdf rename to sdformat_for_tcp/sdf/1.4/gazeboid.sdf diff --git a/sdformat/sdf/1.4/geometry.sdf b/sdformat_for_tcp/sdf/1.4/geometry.sdf similarity index 100% rename from sdformat/sdf/1.4/geometry.sdf rename to sdformat_for_tcp/sdf/1.4/geometry.sdf diff --git a/sdformat/sdf/1.4/gps.sdf b/sdformat_for_tcp/sdf/1.4/gps.sdf similarity index 100% rename from sdformat/sdf/1.4/gps.sdf rename to sdformat_for_tcp/sdf/1.4/gps.sdf diff --git a/sdformat/sdf/1.4/gripper.sdf b/sdformat_for_tcp/sdf/1.4/gripper.sdf similarity index 100% rename from sdformat/sdf/1.4/gripper.sdf rename to sdformat_for_tcp/sdf/1.4/gripper.sdf diff --git a/sdformat/sdf/1.4/gui.sdf b/sdformat_for_tcp/sdf/1.4/gui.sdf similarity index 100% rename from sdformat/sdf/1.4/gui.sdf rename to sdformat_for_tcp/sdf/1.4/gui.sdf diff --git a/sdformat/sdf/1.4/heightmap_shape.sdf b/sdformat_for_tcp/sdf/1.4/heightmap_shape.sdf similarity index 100% rename from sdformat/sdf/1.4/heightmap_shape.sdf rename to sdformat_for_tcp/sdf/1.4/heightmap_shape.sdf diff --git a/sdformat/sdf/1.4/image_shape.sdf b/sdformat_for_tcp/sdf/1.4/image_shape.sdf similarity index 100% rename from sdformat/sdf/1.4/image_shape.sdf rename to sdformat_for_tcp/sdf/1.4/image_shape.sdf diff --git a/sdformat/sdf/1.4/imu.sdf b/sdformat_for_tcp/sdf/1.4/imu.sdf similarity index 100% rename from sdformat/sdf/1.4/imu.sdf rename to sdformat_for_tcp/sdf/1.4/imu.sdf diff --git a/sdformat/sdf/1.4/inertial.sdf b/sdformat_for_tcp/sdf/1.4/inertial.sdf similarity index 100% rename from sdformat/sdf/1.4/inertial.sdf rename to sdformat_for_tcp/sdf/1.4/inertial.sdf diff --git a/sdformat/sdf/1.4/joint.sdf b/sdformat_for_tcp/sdf/1.4/joint.sdf similarity index 100% rename from sdformat/sdf/1.4/joint.sdf rename to sdformat_for_tcp/sdf/1.4/joint.sdf diff --git a/sdformat/sdf/1.4/light.sdf b/sdformat_for_tcp/sdf/1.4/light.sdf similarity index 100% rename from sdformat/sdf/1.4/light.sdf rename to sdformat_for_tcp/sdf/1.4/light.sdf diff --git a/sdformat/sdf/1.4/link.sdf b/sdformat_for_tcp/sdf/1.4/link.sdf similarity index 100% rename from sdformat/sdf/1.4/link.sdf rename to sdformat_for_tcp/sdf/1.4/link.sdf diff --git a/sdformat/sdf/1.4/mesh_shape.sdf b/sdformat_for_tcp/sdf/1.4/mesh_shape.sdf similarity index 100% rename from sdformat/sdf/1.4/mesh_shape.sdf rename to sdformat_for_tcp/sdf/1.4/mesh_shape.sdf diff --git a/sdformat/sdf/1.4/model.sdf b/sdformat_for_tcp/sdf/1.4/model.sdf similarity index 100% rename from sdformat/sdf/1.4/model.sdf rename to sdformat_for_tcp/sdf/1.4/model.sdf diff --git a/sdformat/sdf/1.4/noise.sdf b/sdformat_for_tcp/sdf/1.4/noise.sdf similarity index 100% rename from sdformat/sdf/1.4/noise.sdf rename to sdformat_for_tcp/sdf/1.4/noise.sdf diff --git a/sdformat/sdf/1.4/physics.sdf b/sdformat_for_tcp/sdf/1.4/physics.sdf similarity index 100% rename from sdformat/sdf/1.4/physics.sdf rename to sdformat_for_tcp/sdf/1.4/physics.sdf diff --git a/sdformat/sdf/1.4/plane_shape.sdf b/sdformat_for_tcp/sdf/1.4/plane_shape.sdf similarity index 100% rename from sdformat/sdf/1.4/plane_shape.sdf rename to sdformat_for_tcp/sdf/1.4/plane_shape.sdf diff --git a/sdformat/sdf/1.4/plugin.sdf b/sdformat_for_tcp/sdf/1.4/plugin.sdf similarity index 100% rename from sdformat/sdf/1.4/plugin.sdf rename to sdformat_for_tcp/sdf/1.4/plugin.sdf diff --git a/sdformat/sdf/1.4/projector.sdf b/sdformat_for_tcp/sdf/1.4/projector.sdf similarity index 100% rename from sdformat/sdf/1.4/projector.sdf rename to sdformat_for_tcp/sdf/1.4/projector.sdf diff --git a/sdformat/sdf/1.4/ray.sdf b/sdformat_for_tcp/sdf/1.4/ray.sdf similarity index 100% rename from sdformat/sdf/1.4/ray.sdf rename to sdformat_for_tcp/sdf/1.4/ray.sdf diff --git a/sdformat/sdf/1.4/rfid.sdf b/sdformat_for_tcp/sdf/1.4/rfid.sdf similarity index 100% rename from sdformat/sdf/1.4/rfid.sdf rename to sdformat_for_tcp/sdf/1.4/rfid.sdf diff --git a/sdformat/sdf/1.4/rfidtag.sdf b/sdformat_for_tcp/sdf/1.4/rfidtag.sdf similarity index 100% rename from sdformat/sdf/1.4/rfidtag.sdf rename to sdformat_for_tcp/sdf/1.4/rfidtag.sdf diff --git a/sdformat/sdf/1.4/road.sdf b/sdformat_for_tcp/sdf/1.4/road.sdf similarity index 100% rename from sdformat/sdf/1.4/road.sdf rename to sdformat_for_tcp/sdf/1.4/road.sdf diff --git a/sdformat/sdf/1.4/root.sdf b/sdformat_for_tcp/sdf/1.4/root.sdf similarity index 100% rename from sdformat/sdf/1.4/root.sdf rename to sdformat_for_tcp/sdf/1.4/root.sdf diff --git a/sdformat/sdf/1.4/scene.sdf b/sdformat_for_tcp/sdf/1.4/scene.sdf similarity index 100% rename from sdformat/sdf/1.4/scene.sdf rename to sdformat_for_tcp/sdf/1.4/scene.sdf diff --git a/sdformat/sdf/1.4/sensor.sdf b/sdformat_for_tcp/sdf/1.4/sensor.sdf similarity index 100% rename from sdformat/sdf/1.4/sensor.sdf rename to sdformat_for_tcp/sdf/1.4/sensor.sdf diff --git a/sdformat/sdf/1.4/server.sdf b/sdformat_for_tcp/sdf/1.4/server.sdf similarity index 100% rename from sdformat/sdf/1.4/server.sdf rename to sdformat_for_tcp/sdf/1.4/server.sdf diff --git a/sdformat/sdf/1.4/sonar.sdf b/sdformat_for_tcp/sdf/1.4/sonar.sdf similarity index 100% rename from sdformat/sdf/1.4/sonar.sdf rename to sdformat_for_tcp/sdf/1.4/sonar.sdf diff --git a/sdformat/sdf/1.4/sphere_shape.sdf b/sdformat_for_tcp/sdf/1.4/sphere_shape.sdf similarity index 100% rename from sdformat/sdf/1.4/sphere_shape.sdf rename to sdformat_for_tcp/sdf/1.4/sphere_shape.sdf diff --git a/sdformat/sdf/1.4/spherical_coordinates.sdf b/sdformat_for_tcp/sdf/1.4/spherical_coordinates.sdf similarity index 100% rename from sdformat/sdf/1.4/spherical_coordinates.sdf rename to sdformat_for_tcp/sdf/1.4/spherical_coordinates.sdf diff --git a/sdformat/sdf/1.4/state.sdf b/sdformat_for_tcp/sdf/1.4/state.sdf similarity index 100% rename from sdformat/sdf/1.4/state.sdf rename to sdformat_for_tcp/sdf/1.4/state.sdf diff --git a/sdformat/sdf/1.4/surface.sdf b/sdformat_for_tcp/sdf/1.4/surface.sdf similarity index 100% rename from sdformat/sdf/1.4/surface.sdf rename to sdformat_for_tcp/sdf/1.4/surface.sdf diff --git a/sdformat/sdf/1.4/transceiver.sdf b/sdformat_for_tcp/sdf/1.4/transceiver.sdf similarity index 100% rename from sdformat/sdf/1.4/transceiver.sdf rename to sdformat_for_tcp/sdf/1.4/transceiver.sdf diff --git a/sdformat/sdf/1.4/urdf.sdf b/sdformat_for_tcp/sdf/1.4/urdf.sdf similarity index 100% rename from sdformat/sdf/1.4/urdf.sdf rename to sdformat_for_tcp/sdf/1.4/urdf.sdf diff --git a/sdformat/sdf/1.4/visual.sdf b/sdformat_for_tcp/sdf/1.4/visual.sdf similarity index 100% rename from sdformat/sdf/1.4/visual.sdf rename to sdformat_for_tcp/sdf/1.4/visual.sdf diff --git a/sdformat/sdf/1.4/world.sdf b/sdformat_for_tcp/sdf/1.4/world.sdf similarity index 100% rename from sdformat/sdf/1.4/world.sdf rename to sdformat_for_tcp/sdf/1.4/world.sdf diff --git a/sdformat/sdf/1.5/1_4.convert b/sdformat_for_tcp/sdf/1.5/1_4.convert similarity index 100% rename from sdformat/sdf/1.5/1_4.convert rename to sdformat_for_tcp/sdf/1.5/1_4.convert diff --git a/sdformat/sdf/1.5/CMakeLists.txt b/sdformat_for_tcp/sdf/1.5/CMakeLists.txt similarity index 100% rename from sdformat/sdf/1.5/CMakeLists.txt rename to sdformat_for_tcp/sdf/1.5/CMakeLists.txt diff --git a/sdformat/sdf/1.5/actor.sdf b/sdformat_for_tcp/sdf/1.5/actor.sdf similarity index 100% rename from sdformat/sdf/1.5/actor.sdf rename to sdformat_for_tcp/sdf/1.5/actor.sdf diff --git a/sdformat/sdf/1.5/altimeter.sdf b/sdformat_for_tcp/sdf/1.5/altimeter.sdf similarity index 100% rename from sdformat/sdf/1.5/altimeter.sdf rename to sdformat_for_tcp/sdf/1.5/altimeter.sdf diff --git a/sdformat/sdf/1.5/atmosphere.sdf b/sdformat_for_tcp/sdf/1.5/atmosphere.sdf similarity index 100% rename from sdformat/sdf/1.5/atmosphere.sdf rename to sdformat_for_tcp/sdf/1.5/atmosphere.sdf diff --git a/sdformat/sdf/1.5/audio_sink.sdf b/sdformat_for_tcp/sdf/1.5/audio_sink.sdf similarity index 100% rename from sdformat/sdf/1.5/audio_sink.sdf rename to sdformat_for_tcp/sdf/1.5/audio_sink.sdf diff --git a/sdformat/sdf/1.5/audio_source.sdf b/sdformat_for_tcp/sdf/1.5/audio_source.sdf similarity index 100% rename from sdformat/sdf/1.5/audio_source.sdf rename to sdformat_for_tcp/sdf/1.5/audio_source.sdf diff --git a/sdformat/sdf/1.5/battery.sdf b/sdformat_for_tcp/sdf/1.5/battery.sdf similarity index 100% rename from sdformat/sdf/1.5/battery.sdf rename to sdformat_for_tcp/sdf/1.5/battery.sdf diff --git a/sdformat/sdf/1.5/box_shape.sdf b/sdformat_for_tcp/sdf/1.5/box_shape.sdf similarity index 100% rename from sdformat/sdf/1.5/box_shape.sdf rename to sdformat_for_tcp/sdf/1.5/box_shape.sdf diff --git a/sdformat/sdf/1.5/camera.sdf b/sdformat_for_tcp/sdf/1.5/camera.sdf similarity index 100% rename from sdformat/sdf/1.5/camera.sdf rename to sdformat_for_tcp/sdf/1.5/camera.sdf diff --git a/sdformat/sdf/1.5/collision.sdf b/sdformat_for_tcp/sdf/1.5/collision.sdf similarity index 100% rename from sdformat/sdf/1.5/collision.sdf rename to sdformat_for_tcp/sdf/1.5/collision.sdf diff --git a/sdformat/sdf/1.5/collision_engine.sdf b/sdformat_for_tcp/sdf/1.5/collision_engine.sdf similarity index 100% rename from sdformat/sdf/1.5/collision_engine.sdf rename to sdformat_for_tcp/sdf/1.5/collision_engine.sdf diff --git a/sdformat/sdf/1.5/contact.sdf b/sdformat_for_tcp/sdf/1.5/contact.sdf similarity index 100% rename from sdformat/sdf/1.5/contact.sdf rename to sdformat_for_tcp/sdf/1.5/contact.sdf diff --git a/sdformat/sdf/1.5/cylinder_shape.sdf b/sdformat_for_tcp/sdf/1.5/cylinder_shape.sdf similarity index 100% rename from sdformat/sdf/1.5/cylinder_shape.sdf rename to sdformat_for_tcp/sdf/1.5/cylinder_shape.sdf diff --git a/sdformat/sdf/1.5/distribution.sdf b/sdformat_for_tcp/sdf/1.5/distribution.sdf similarity index 100% rename from sdformat/sdf/1.5/distribution.sdf rename to sdformat_for_tcp/sdf/1.5/distribution.sdf diff --git a/sdformat/sdf/1.5/event.sdf b/sdformat_for_tcp/sdf/1.5/event.sdf similarity index 100% rename from sdformat/sdf/1.5/event.sdf rename to sdformat_for_tcp/sdf/1.5/event.sdf diff --git a/sdformat/sdf/1.5/forcetorque.sdf b/sdformat_for_tcp/sdf/1.5/forcetorque.sdf similarity index 100% rename from sdformat/sdf/1.5/forcetorque.sdf rename to sdformat_for_tcp/sdf/1.5/forcetorque.sdf diff --git a/sdformat/sdf/1.5/frame.sdf b/sdformat_for_tcp/sdf/1.5/frame.sdf similarity index 100% rename from sdformat/sdf/1.5/frame.sdf rename to sdformat_for_tcp/sdf/1.5/frame.sdf diff --git a/sdformat/sdf/1.5/gazeboid.sdf b/sdformat_for_tcp/sdf/1.5/gazeboid.sdf similarity index 100% rename from sdformat/sdf/1.5/gazeboid.sdf rename to sdformat_for_tcp/sdf/1.5/gazeboid.sdf diff --git a/sdformat/sdf/1.5/geometry.sdf b/sdformat_for_tcp/sdf/1.5/geometry.sdf similarity index 100% rename from sdformat/sdf/1.5/geometry.sdf rename to sdformat_for_tcp/sdf/1.5/geometry.sdf diff --git a/sdformat/sdf/1.5/gps.sdf b/sdformat_for_tcp/sdf/1.5/gps.sdf similarity index 100% rename from sdformat/sdf/1.5/gps.sdf rename to sdformat_for_tcp/sdf/1.5/gps.sdf diff --git a/sdformat/sdf/1.5/gripper.sdf b/sdformat_for_tcp/sdf/1.5/gripper.sdf similarity index 100% rename from sdformat/sdf/1.5/gripper.sdf rename to sdformat_for_tcp/sdf/1.5/gripper.sdf diff --git a/sdformat/sdf/1.5/gui.sdf b/sdformat_for_tcp/sdf/1.5/gui.sdf similarity index 100% rename from sdformat/sdf/1.5/gui.sdf rename to sdformat_for_tcp/sdf/1.5/gui.sdf diff --git a/sdformat/sdf/1.5/heightmap_shape.sdf b/sdformat_for_tcp/sdf/1.5/heightmap_shape.sdf similarity index 100% rename from sdformat/sdf/1.5/heightmap_shape.sdf rename to sdformat_for_tcp/sdf/1.5/heightmap_shape.sdf diff --git a/sdformat/sdf/1.5/image_shape.sdf b/sdformat_for_tcp/sdf/1.5/image_shape.sdf similarity index 100% rename from sdformat/sdf/1.5/image_shape.sdf rename to sdformat_for_tcp/sdf/1.5/image_shape.sdf diff --git a/sdformat/sdf/1.5/imu.sdf b/sdformat_for_tcp/sdf/1.5/imu.sdf similarity index 100% rename from sdformat/sdf/1.5/imu.sdf rename to sdformat_for_tcp/sdf/1.5/imu.sdf diff --git a/sdformat/sdf/1.5/inertial.sdf b/sdformat_for_tcp/sdf/1.5/inertial.sdf similarity index 100% rename from sdformat/sdf/1.5/inertial.sdf rename to sdformat_for_tcp/sdf/1.5/inertial.sdf diff --git a/sdformat/sdf/1.5/joint.sdf b/sdformat_for_tcp/sdf/1.5/joint.sdf similarity index 100% rename from sdformat/sdf/1.5/joint.sdf rename to sdformat_for_tcp/sdf/1.5/joint.sdf diff --git a/sdformat/sdf/1.5/light.sdf b/sdformat_for_tcp/sdf/1.5/light.sdf similarity index 100% rename from sdformat/sdf/1.5/light.sdf rename to sdformat_for_tcp/sdf/1.5/light.sdf diff --git a/sdformat/sdf/1.5/light_state.sdf b/sdformat_for_tcp/sdf/1.5/light_state.sdf similarity index 100% rename from sdformat/sdf/1.5/light_state.sdf rename to sdformat_for_tcp/sdf/1.5/light_state.sdf diff --git a/sdformat/sdf/1.5/link.sdf b/sdformat_for_tcp/sdf/1.5/link.sdf similarity index 100% rename from sdformat/sdf/1.5/link.sdf rename to sdformat_for_tcp/sdf/1.5/link.sdf diff --git a/sdformat/sdf/1.5/link_state.sdf b/sdformat_for_tcp/sdf/1.5/link_state.sdf similarity index 100% rename from sdformat/sdf/1.5/link_state.sdf rename to sdformat_for_tcp/sdf/1.5/link_state.sdf diff --git a/sdformat/sdf/1.5/logical_camera.sdf b/sdformat_for_tcp/sdf/1.5/logical_camera.sdf similarity index 100% rename from sdformat/sdf/1.5/logical_camera.sdf rename to sdformat_for_tcp/sdf/1.5/logical_camera.sdf diff --git a/sdformat/sdf/1.5/magnetometer.sdf b/sdformat_for_tcp/sdf/1.5/magnetometer.sdf similarity index 100% rename from sdformat/sdf/1.5/magnetometer.sdf rename to sdformat_for_tcp/sdf/1.5/magnetometer.sdf diff --git a/sdformat/sdf/1.5/material.sdf b/sdformat_for_tcp/sdf/1.5/material.sdf similarity index 100% rename from sdformat/sdf/1.5/material.sdf rename to sdformat_for_tcp/sdf/1.5/material.sdf diff --git a/sdformat/sdf/1.5/mesh_shape.sdf b/sdformat_for_tcp/sdf/1.5/mesh_shape.sdf similarity index 100% rename from sdformat/sdf/1.5/mesh_shape.sdf rename to sdformat_for_tcp/sdf/1.5/mesh_shape.sdf diff --git a/sdformat/sdf/1.5/model.sdf b/sdformat_for_tcp/sdf/1.5/model.sdf similarity index 100% rename from sdformat/sdf/1.5/model.sdf rename to sdformat_for_tcp/sdf/1.5/model.sdf diff --git a/sdformat/sdf/1.5/model_state.sdf b/sdformat_for_tcp/sdf/1.5/model_state.sdf similarity index 100% rename from sdformat/sdf/1.5/model_state.sdf rename to sdformat_for_tcp/sdf/1.5/model_state.sdf diff --git a/sdformat/sdf/1.5/noise.sdf b/sdformat_for_tcp/sdf/1.5/noise.sdf similarity index 100% rename from sdformat/sdf/1.5/noise.sdf rename to sdformat_for_tcp/sdf/1.5/noise.sdf diff --git a/sdformat/sdf/1.5/physics.sdf b/sdformat_for_tcp/sdf/1.5/physics.sdf similarity index 100% rename from sdformat/sdf/1.5/physics.sdf rename to sdformat_for_tcp/sdf/1.5/physics.sdf diff --git a/sdformat/sdf/1.5/plane_shape.sdf b/sdformat_for_tcp/sdf/1.5/plane_shape.sdf similarity index 100% rename from sdformat/sdf/1.5/plane_shape.sdf rename to sdformat_for_tcp/sdf/1.5/plane_shape.sdf diff --git a/sdformat/sdf/1.5/plugin.sdf b/sdformat_for_tcp/sdf/1.5/plugin.sdf similarity index 100% rename from sdformat/sdf/1.5/plugin.sdf rename to sdformat_for_tcp/sdf/1.5/plugin.sdf diff --git a/sdformat/sdf/1.5/polyline_shape.sdf b/sdformat_for_tcp/sdf/1.5/polyline_shape.sdf similarity index 100% rename from sdformat/sdf/1.5/polyline_shape.sdf rename to sdformat_for_tcp/sdf/1.5/polyline_shape.sdf diff --git a/sdformat/sdf/1.5/population.sdf b/sdformat_for_tcp/sdf/1.5/population.sdf similarity index 100% rename from sdformat/sdf/1.5/population.sdf rename to sdformat_for_tcp/sdf/1.5/population.sdf diff --git a/sdformat/sdf/1.5/pose.sdf b/sdformat_for_tcp/sdf/1.5/pose.sdf similarity index 100% rename from sdformat/sdf/1.5/pose.sdf rename to sdformat_for_tcp/sdf/1.5/pose.sdf diff --git a/sdformat/sdf/1.5/projector.sdf b/sdformat_for_tcp/sdf/1.5/projector.sdf similarity index 100% rename from sdformat/sdf/1.5/projector.sdf rename to sdformat_for_tcp/sdf/1.5/projector.sdf diff --git a/sdformat/sdf/1.5/ray.sdf b/sdformat_for_tcp/sdf/1.5/ray.sdf similarity index 100% rename from sdformat/sdf/1.5/ray.sdf rename to sdformat_for_tcp/sdf/1.5/ray.sdf diff --git a/sdformat/sdf/1.5/rfid.sdf b/sdformat_for_tcp/sdf/1.5/rfid.sdf similarity index 100% rename from sdformat/sdf/1.5/rfid.sdf rename to sdformat_for_tcp/sdf/1.5/rfid.sdf diff --git a/sdformat/sdf/1.5/rfidtag.sdf b/sdformat_for_tcp/sdf/1.5/rfidtag.sdf similarity index 100% rename from sdformat/sdf/1.5/rfidtag.sdf rename to sdformat_for_tcp/sdf/1.5/rfidtag.sdf diff --git a/sdformat/sdf/1.5/road.sdf b/sdformat_for_tcp/sdf/1.5/road.sdf similarity index 100% rename from sdformat/sdf/1.5/road.sdf rename to sdformat_for_tcp/sdf/1.5/road.sdf diff --git a/sdformat/sdf/1.5/root.sdf b/sdformat_for_tcp/sdf/1.5/root.sdf similarity index 100% rename from sdformat/sdf/1.5/root.sdf rename to sdformat_for_tcp/sdf/1.5/root.sdf diff --git a/sdformat/sdf/1.5/scene.sdf b/sdformat_for_tcp/sdf/1.5/scene.sdf similarity index 100% rename from sdformat/sdf/1.5/scene.sdf rename to sdformat_for_tcp/sdf/1.5/scene.sdf diff --git a/sdformat/sdf/1.5/schema/types.xsd b/sdformat_for_tcp/sdf/1.5/schema/types.xsd similarity index 100% rename from sdformat/sdf/1.5/schema/types.xsd rename to sdformat_for_tcp/sdf/1.5/schema/types.xsd diff --git a/sdformat/sdf/1.5/sensor.sdf b/sdformat_for_tcp/sdf/1.5/sensor.sdf similarity index 100% rename from sdformat/sdf/1.5/sensor.sdf rename to sdformat_for_tcp/sdf/1.5/sensor.sdf diff --git a/sdformat/sdf/1.5/server.sdf b/sdformat_for_tcp/sdf/1.5/server.sdf similarity index 100% rename from sdformat/sdf/1.5/server.sdf rename to sdformat_for_tcp/sdf/1.5/server.sdf diff --git a/sdformat/sdf/1.5/sonar.sdf b/sdformat_for_tcp/sdf/1.5/sonar.sdf similarity index 100% rename from sdformat/sdf/1.5/sonar.sdf rename to sdformat_for_tcp/sdf/1.5/sonar.sdf diff --git a/sdformat/sdf/1.5/sphere_shape.sdf b/sdformat_for_tcp/sdf/1.5/sphere_shape.sdf similarity index 100% rename from sdformat/sdf/1.5/sphere_shape.sdf rename to sdformat_for_tcp/sdf/1.5/sphere_shape.sdf diff --git a/sdformat/sdf/1.5/spherical_coordinates.sdf b/sdformat_for_tcp/sdf/1.5/spherical_coordinates.sdf similarity index 100% rename from sdformat/sdf/1.5/spherical_coordinates.sdf rename to sdformat_for_tcp/sdf/1.5/spherical_coordinates.sdf diff --git a/sdformat/sdf/1.5/state.sdf b/sdformat_for_tcp/sdf/1.5/state.sdf similarity index 100% rename from sdformat/sdf/1.5/state.sdf rename to sdformat_for_tcp/sdf/1.5/state.sdf diff --git a/sdformat/sdf/1.5/surface.sdf b/sdformat_for_tcp/sdf/1.5/surface.sdf similarity index 100% rename from sdformat/sdf/1.5/surface.sdf rename to sdformat_for_tcp/sdf/1.5/surface.sdf diff --git a/sdformat/sdf/1.5/transceiver.sdf b/sdformat_for_tcp/sdf/1.5/transceiver.sdf similarity index 100% rename from sdformat/sdf/1.5/transceiver.sdf rename to sdformat_for_tcp/sdf/1.5/transceiver.sdf diff --git a/sdformat/sdf/1.5/urdf.sdf b/sdformat_for_tcp/sdf/1.5/urdf.sdf similarity index 100% rename from sdformat/sdf/1.5/urdf.sdf rename to sdformat_for_tcp/sdf/1.5/urdf.sdf diff --git a/sdformat/sdf/1.5/visual.sdf b/sdformat_for_tcp/sdf/1.5/visual.sdf similarity index 100% rename from sdformat/sdf/1.5/visual.sdf rename to sdformat_for_tcp/sdf/1.5/visual.sdf diff --git a/sdformat/sdf/1.5/world.sdf b/sdformat_for_tcp/sdf/1.5/world.sdf similarity index 100% rename from sdformat/sdf/1.5/world.sdf rename to sdformat_for_tcp/sdf/1.5/world.sdf diff --git a/sdformat/sdf/1.6/1_5.convert b/sdformat_for_tcp/sdf/1.6/1_5.convert similarity index 100% rename from sdformat/sdf/1.6/1_5.convert rename to sdformat_for_tcp/sdf/1.6/1_5.convert diff --git a/sdformat/sdf/1.6/CMakeLists.txt b/sdformat_for_tcp/sdf/1.6/CMakeLists.txt similarity index 100% rename from sdformat/sdf/1.6/CMakeLists.txt rename to sdformat_for_tcp/sdf/1.6/CMakeLists.txt diff --git a/sdformat/sdf/1.6/actor.sdf b/sdformat_for_tcp/sdf/1.6/actor.sdf similarity index 100% rename from sdformat/sdf/1.6/actor.sdf rename to sdformat_for_tcp/sdf/1.6/actor.sdf diff --git a/sdformat/sdf/1.6/altimeter.sdf b/sdformat_for_tcp/sdf/1.6/altimeter.sdf similarity index 100% rename from sdformat/sdf/1.6/altimeter.sdf rename to sdformat_for_tcp/sdf/1.6/altimeter.sdf diff --git a/sdformat/sdf/1.6/atmosphere.sdf b/sdformat_for_tcp/sdf/1.6/atmosphere.sdf similarity index 100% rename from sdformat/sdf/1.6/atmosphere.sdf rename to sdformat_for_tcp/sdf/1.6/atmosphere.sdf diff --git a/sdformat/sdf/1.6/audio_sink.sdf b/sdformat_for_tcp/sdf/1.6/audio_sink.sdf similarity index 100% rename from sdformat/sdf/1.6/audio_sink.sdf rename to sdformat_for_tcp/sdf/1.6/audio_sink.sdf diff --git a/sdformat/sdf/1.6/audio_source.sdf b/sdformat_for_tcp/sdf/1.6/audio_source.sdf similarity index 100% rename from sdformat/sdf/1.6/audio_source.sdf rename to sdformat_for_tcp/sdf/1.6/audio_source.sdf diff --git a/sdformat/sdf/1.6/battery.sdf b/sdformat_for_tcp/sdf/1.6/battery.sdf similarity index 100% rename from sdformat/sdf/1.6/battery.sdf rename to sdformat_for_tcp/sdf/1.6/battery.sdf diff --git a/sdformat/sdf/1.6/box_shape.sdf b/sdformat_for_tcp/sdf/1.6/box_shape.sdf similarity index 100% rename from sdformat/sdf/1.6/box_shape.sdf rename to sdformat_for_tcp/sdf/1.6/box_shape.sdf diff --git a/sdformat/sdf/1.6/camera.sdf b/sdformat_for_tcp/sdf/1.6/camera.sdf similarity index 100% rename from sdformat/sdf/1.6/camera.sdf rename to sdformat_for_tcp/sdf/1.6/camera.sdf diff --git a/sdformat/sdf/1.6/collision.sdf b/sdformat_for_tcp/sdf/1.6/collision.sdf similarity index 100% rename from sdformat/sdf/1.6/collision.sdf rename to sdformat_for_tcp/sdf/1.6/collision.sdf diff --git a/sdformat/sdf/1.6/collision_engine.sdf b/sdformat_for_tcp/sdf/1.6/collision_engine.sdf similarity index 100% rename from sdformat/sdf/1.6/collision_engine.sdf rename to sdformat_for_tcp/sdf/1.6/collision_engine.sdf diff --git a/sdformat/sdf/1.6/contact.sdf b/sdformat_for_tcp/sdf/1.6/contact.sdf similarity index 100% rename from sdformat/sdf/1.6/contact.sdf rename to sdformat_for_tcp/sdf/1.6/contact.sdf diff --git a/sdformat/sdf/1.6/cylinder_shape.sdf b/sdformat_for_tcp/sdf/1.6/cylinder_shape.sdf similarity index 100% rename from sdformat/sdf/1.6/cylinder_shape.sdf rename to sdformat_for_tcp/sdf/1.6/cylinder_shape.sdf diff --git a/sdformat/sdf/1.6/distribution.sdf b/sdformat_for_tcp/sdf/1.6/distribution.sdf similarity index 100% rename from sdformat/sdf/1.6/distribution.sdf rename to sdformat_for_tcp/sdf/1.6/distribution.sdf diff --git a/sdformat/sdf/1.6/event (复件).sdf b/sdformat_for_tcp/sdf/1.6/event (复件).sdf similarity index 100% rename from sdformat/sdf/1.6/event (复件).sdf rename to sdformat_for_tcp/sdf/1.6/event (复件).sdf diff --git a/sdformat/sdf/1.6/event.sdf b/sdformat_for_tcp/sdf/1.6/event.sdf similarity index 100% rename from sdformat/sdf/1.6/event.sdf rename to sdformat_for_tcp/sdf/1.6/event.sdf diff --git a/sdformat/sdf/1.6/forcetorque.sdf b/sdformat_for_tcp/sdf/1.6/forcetorque.sdf similarity index 100% rename from sdformat/sdf/1.6/forcetorque.sdf rename to sdformat_for_tcp/sdf/1.6/forcetorque.sdf diff --git a/sdformat/sdf/1.6/frame.sdf b/sdformat_for_tcp/sdf/1.6/frame.sdf similarity index 100% rename from sdformat/sdf/1.6/frame.sdf rename to sdformat_for_tcp/sdf/1.6/frame.sdf diff --git a/sdformat/sdf/1.6/gazeboid.sdf b/sdformat_for_tcp/sdf/1.6/gazeboid.sdf similarity index 100% rename from sdformat/sdf/1.6/gazeboid.sdf rename to sdformat_for_tcp/sdf/1.6/gazeboid.sdf diff --git a/sdformat/sdf/1.6/geometry.sdf b/sdformat_for_tcp/sdf/1.6/geometry.sdf similarity index 100% rename from sdformat/sdf/1.6/geometry.sdf rename to sdformat_for_tcp/sdf/1.6/geometry.sdf diff --git a/sdformat/sdf/1.6/gps.sdf b/sdformat_for_tcp/sdf/1.6/gps.sdf similarity index 100% rename from sdformat/sdf/1.6/gps.sdf rename to sdformat_for_tcp/sdf/1.6/gps.sdf diff --git a/sdformat/sdf/1.6/gripper.sdf b/sdformat_for_tcp/sdf/1.6/gripper.sdf similarity index 100% rename from sdformat/sdf/1.6/gripper.sdf rename to sdformat_for_tcp/sdf/1.6/gripper.sdf diff --git a/sdformat/sdf/1.6/gui.sdf b/sdformat_for_tcp/sdf/1.6/gui.sdf similarity index 100% rename from sdformat/sdf/1.6/gui.sdf rename to sdformat_for_tcp/sdf/1.6/gui.sdf diff --git a/sdformat/sdf/1.6/heightmap_shape.sdf b/sdformat_for_tcp/sdf/1.6/heightmap_shape.sdf similarity index 100% rename from sdformat/sdf/1.6/heightmap_shape.sdf rename to sdformat_for_tcp/sdf/1.6/heightmap_shape.sdf diff --git a/sdformat/sdf/1.6/image_shape.sdf b/sdformat_for_tcp/sdf/1.6/image_shape.sdf similarity index 100% rename from sdformat/sdf/1.6/image_shape.sdf rename to sdformat_for_tcp/sdf/1.6/image_shape.sdf diff --git a/sdformat/sdf/1.6/imu.sdf b/sdformat_for_tcp/sdf/1.6/imu.sdf similarity index 100% rename from sdformat/sdf/1.6/imu.sdf rename to sdformat_for_tcp/sdf/1.6/imu.sdf diff --git a/sdformat/sdf/1.6/inertial.sdf b/sdformat_for_tcp/sdf/1.6/inertial.sdf similarity index 100% rename from sdformat/sdf/1.6/inertial.sdf rename to sdformat_for_tcp/sdf/1.6/inertial.sdf diff --git a/sdformat/sdf/1.6/joint.sdf b/sdformat_for_tcp/sdf/1.6/joint.sdf similarity index 100% rename from sdformat/sdf/1.6/joint.sdf rename to sdformat_for_tcp/sdf/1.6/joint.sdf diff --git a/sdformat/sdf/1.6/light.sdf b/sdformat_for_tcp/sdf/1.6/light.sdf similarity index 100% rename from sdformat/sdf/1.6/light.sdf rename to sdformat_for_tcp/sdf/1.6/light.sdf diff --git a/sdformat/sdf/1.6/light_state.sdf b/sdformat_for_tcp/sdf/1.6/light_state.sdf similarity index 100% rename from sdformat/sdf/1.6/light_state.sdf rename to sdformat_for_tcp/sdf/1.6/light_state.sdf diff --git a/sdformat/sdf/1.6/link.sdf b/sdformat_for_tcp/sdf/1.6/link.sdf similarity index 100% rename from sdformat/sdf/1.6/link.sdf rename to sdformat_for_tcp/sdf/1.6/link.sdf diff --git a/sdformat/sdf/1.6/link_state.sdf b/sdformat_for_tcp/sdf/1.6/link_state.sdf similarity index 100% rename from sdformat/sdf/1.6/link_state.sdf rename to sdformat_for_tcp/sdf/1.6/link_state.sdf diff --git a/sdformat/sdf/1.6/logical_camera.sdf b/sdformat_for_tcp/sdf/1.6/logical_camera.sdf similarity index 100% rename from sdformat/sdf/1.6/logical_camera.sdf rename to sdformat_for_tcp/sdf/1.6/logical_camera.sdf diff --git a/sdformat/sdf/1.6/magnetometer.sdf b/sdformat_for_tcp/sdf/1.6/magnetometer.sdf similarity index 100% rename from sdformat/sdf/1.6/magnetometer.sdf rename to sdformat_for_tcp/sdf/1.6/magnetometer.sdf diff --git a/sdformat/sdf/1.6/material.sdf b/sdformat_for_tcp/sdf/1.6/material.sdf similarity index 100% rename from sdformat/sdf/1.6/material.sdf rename to sdformat_for_tcp/sdf/1.6/material.sdf diff --git a/sdformat/sdf/1.6/mesh_shape.sdf b/sdformat_for_tcp/sdf/1.6/mesh_shape.sdf similarity index 100% rename from sdformat/sdf/1.6/mesh_shape.sdf rename to sdformat_for_tcp/sdf/1.6/mesh_shape.sdf diff --git a/sdformat/sdf/1.6/model.sdf b/sdformat_for_tcp/sdf/1.6/model.sdf similarity index 100% rename from sdformat/sdf/1.6/model.sdf rename to sdformat_for_tcp/sdf/1.6/model.sdf diff --git a/sdformat/sdf/1.6/model_state.sdf b/sdformat_for_tcp/sdf/1.6/model_state.sdf similarity index 100% rename from sdformat/sdf/1.6/model_state.sdf rename to sdformat_for_tcp/sdf/1.6/model_state.sdf diff --git a/sdformat/sdf/1.6/noise.sdf b/sdformat_for_tcp/sdf/1.6/noise.sdf similarity index 100% rename from sdformat/sdf/1.6/noise.sdf rename to sdformat_for_tcp/sdf/1.6/noise.sdf diff --git a/sdformat/sdf/1.6/physics.sdf b/sdformat_for_tcp/sdf/1.6/physics.sdf similarity index 100% rename from sdformat/sdf/1.6/physics.sdf rename to sdformat_for_tcp/sdf/1.6/physics.sdf diff --git a/sdformat/sdf/1.6/plane_shape.sdf b/sdformat_for_tcp/sdf/1.6/plane_shape.sdf similarity index 100% rename from sdformat/sdf/1.6/plane_shape.sdf rename to sdformat_for_tcp/sdf/1.6/plane_shape.sdf diff --git a/sdformat/sdf/1.6/plugin.sdf b/sdformat_for_tcp/sdf/1.6/plugin.sdf similarity index 100% rename from sdformat/sdf/1.6/plugin.sdf rename to sdformat_for_tcp/sdf/1.6/plugin.sdf diff --git a/sdformat/sdf/1.6/polyline_shape.sdf b/sdformat_for_tcp/sdf/1.6/polyline_shape.sdf similarity index 100% rename from sdformat/sdf/1.6/polyline_shape.sdf rename to sdformat_for_tcp/sdf/1.6/polyline_shape.sdf diff --git a/sdformat/sdf/1.6/population.sdf b/sdformat_for_tcp/sdf/1.6/population.sdf similarity index 100% rename from sdformat/sdf/1.6/population.sdf rename to sdformat_for_tcp/sdf/1.6/population.sdf diff --git a/sdformat/sdf/1.6/pose.sdf b/sdformat_for_tcp/sdf/1.6/pose.sdf similarity index 100% rename from sdformat/sdf/1.6/pose.sdf rename to sdformat_for_tcp/sdf/1.6/pose.sdf diff --git a/sdformat/sdf/1.6/projector.sdf b/sdformat_for_tcp/sdf/1.6/projector.sdf similarity index 100% rename from sdformat/sdf/1.6/projector.sdf rename to sdformat_for_tcp/sdf/1.6/projector.sdf diff --git a/sdformat/sdf/1.6/ray.sdf b/sdformat_for_tcp/sdf/1.6/ray.sdf similarity index 100% rename from sdformat/sdf/1.6/ray.sdf rename to sdformat_for_tcp/sdf/1.6/ray.sdf diff --git a/sdformat/sdf/1.6/rfid.sdf b/sdformat_for_tcp/sdf/1.6/rfid.sdf similarity index 100% rename from sdformat/sdf/1.6/rfid.sdf rename to sdformat_for_tcp/sdf/1.6/rfid.sdf diff --git a/sdformat/sdf/1.6/rfidtag.sdf b/sdformat_for_tcp/sdf/1.6/rfidtag.sdf similarity index 100% rename from sdformat/sdf/1.6/rfidtag.sdf rename to sdformat_for_tcp/sdf/1.6/rfidtag.sdf diff --git a/sdformat/sdf/1.6/road.sdf b/sdformat_for_tcp/sdf/1.6/road.sdf similarity index 100% rename from sdformat/sdf/1.6/road.sdf rename to sdformat_for_tcp/sdf/1.6/road.sdf diff --git a/sdformat/sdf/1.6/root.sdf b/sdformat_for_tcp/sdf/1.6/root.sdf similarity index 100% rename from sdformat/sdf/1.6/root.sdf rename to sdformat_for_tcp/sdf/1.6/root.sdf diff --git a/sdformat/sdf/1.6/scene.sdf b/sdformat_for_tcp/sdf/1.6/scene.sdf similarity index 100% rename from sdformat/sdf/1.6/scene.sdf rename to sdformat_for_tcp/sdf/1.6/scene.sdf diff --git a/sdformat/sdf/1.6/schema/types.xsd b/sdformat_for_tcp/sdf/1.6/schema/types.xsd similarity index 100% rename from sdformat/sdf/1.6/schema/types.xsd rename to sdformat_for_tcp/sdf/1.6/schema/types.xsd diff --git a/sdformat/sdf/1.6/sensor.sdf b/sdformat_for_tcp/sdf/1.6/sensor.sdf similarity index 100% rename from sdformat/sdf/1.6/sensor.sdf rename to sdformat_for_tcp/sdf/1.6/sensor.sdf diff --git a/sdformat/sdf/1.6/server (复件).sdf b/sdformat_for_tcp/sdf/1.6/server (复件).sdf similarity index 100% rename from sdformat/sdf/1.6/server (复件).sdf rename to sdformat_for_tcp/sdf/1.6/server (复件).sdf diff --git a/sdformat/sdf/1.6/server.sdf b/sdformat_for_tcp/sdf/1.6/server.sdf similarity index 100% rename from sdformat/sdf/1.6/server.sdf rename to sdformat_for_tcp/sdf/1.6/server.sdf diff --git a/sdformat/sdf/1.6/sonar.sdf b/sdformat_for_tcp/sdf/1.6/sonar.sdf similarity index 100% rename from sdformat/sdf/1.6/sonar.sdf rename to sdformat_for_tcp/sdf/1.6/sonar.sdf diff --git a/sdformat/sdf/1.6/sphere_shape.sdf b/sdformat_for_tcp/sdf/1.6/sphere_shape.sdf similarity index 100% rename from sdformat/sdf/1.6/sphere_shape.sdf rename to sdformat_for_tcp/sdf/1.6/sphere_shape.sdf diff --git a/sdformat/sdf/1.6/spherical_coordinates.sdf b/sdformat_for_tcp/sdf/1.6/spherical_coordinates.sdf similarity index 100% rename from sdformat/sdf/1.6/spherical_coordinates.sdf rename to sdformat_for_tcp/sdf/1.6/spherical_coordinates.sdf diff --git a/sdformat/sdf/1.6/state.sdf b/sdformat_for_tcp/sdf/1.6/state.sdf similarity index 100% rename from sdformat/sdf/1.6/state.sdf rename to sdformat_for_tcp/sdf/1.6/state.sdf diff --git a/sdformat/sdf/1.6/surface.sdf b/sdformat_for_tcp/sdf/1.6/surface.sdf similarity index 100% rename from sdformat/sdf/1.6/surface.sdf rename to sdformat_for_tcp/sdf/1.6/surface.sdf diff --git a/sdformat/sdf/1.6/transceiver.sdf b/sdformat_for_tcp/sdf/1.6/transceiver.sdf similarity index 100% rename from sdformat/sdf/1.6/transceiver.sdf rename to sdformat_for_tcp/sdf/1.6/transceiver.sdf diff --git a/sdformat/sdf/1.6/urdf.sdf b/sdformat_for_tcp/sdf/1.6/urdf.sdf similarity index 100% rename from sdformat/sdf/1.6/urdf.sdf rename to sdformat_for_tcp/sdf/1.6/urdf.sdf diff --git a/sdformat/sdf/1.6/visual.sdf b/sdformat_for_tcp/sdf/1.6/visual.sdf similarity index 100% rename from sdformat/sdf/1.6/visual.sdf rename to sdformat_for_tcp/sdf/1.6/visual.sdf diff --git a/sdformat/sdf/1.6/world.sdf b/sdformat_for_tcp/sdf/1.6/world.sdf similarity index 100% rename from sdformat/sdf/1.6/world.sdf rename to sdformat_for_tcp/sdf/1.6/world.sdf diff --git a/sdformat/sdf/CMakeLists.txt b/sdformat_for_tcp/sdf/CMakeLists.txt similarity index 100% rename from sdformat/sdf/CMakeLists.txt rename to sdformat_for_tcp/sdf/CMakeLists.txt diff --git a/sdformat/sdf/Migration.md b/sdformat_for_tcp/sdf/Migration.md similarity index 100% rename from sdformat/sdf/Migration.md rename to sdformat_for_tcp/sdf/Migration.md diff --git a/sdformat/src/Assert.cc b/sdformat_for_tcp/src/Assert.cc similarity index 100% rename from sdformat/src/Assert.cc rename to sdformat_for_tcp/src/Assert.cc diff --git a/sdformat/src/CMakeLists.txt b/sdformat_for_tcp/src/CMakeLists.txt similarity index 100% rename from sdformat/src/CMakeLists.txt rename to sdformat_for_tcp/src/CMakeLists.txt diff --git a/sdformat/src/Console.cc b/sdformat_for_tcp/src/Console.cc similarity index 100% rename from sdformat/src/Console.cc rename to sdformat_for_tcp/src/Console.cc diff --git a/sdformat/src/Console_TEST.cc b/sdformat_for_tcp/src/Console_TEST.cc similarity index 100% rename from sdformat/src/Console_TEST.cc rename to sdformat_for_tcp/src/Console_TEST.cc diff --git a/sdformat/src/Converter.cc b/sdformat_for_tcp/src/Converter.cc similarity index 100% rename from sdformat/src/Converter.cc rename to sdformat_for_tcp/src/Converter.cc diff --git a/sdformat/src/Converter_TEST.cc b/sdformat_for_tcp/src/Converter_TEST.cc similarity index 100% rename from sdformat/src/Converter_TEST.cc rename to sdformat_for_tcp/src/Converter_TEST.cc diff --git a/sdformat/src/Element.cc b/sdformat_for_tcp/src/Element.cc similarity index 100% rename from sdformat/src/Element.cc rename to sdformat_for_tcp/src/Element.cc diff --git a/sdformat/src/Exception.cc b/sdformat_for_tcp/src/Exception.cc similarity index 100% rename from sdformat/src/Exception.cc rename to sdformat_for_tcp/src/Exception.cc diff --git a/sdformat/src/Exception_TEST.cc b/sdformat_for_tcp/src/Exception_TEST.cc similarity index 100% rename from sdformat/src/Exception_TEST.cc rename to sdformat_for_tcp/src/Exception_TEST.cc diff --git a/sdformat/src/Param.cc b/sdformat_for_tcp/src/Param.cc similarity index 100% rename from sdformat/src/Param.cc rename to sdformat_for_tcp/src/Param.cc diff --git a/sdformat/src/Param_TEST.cc b/sdformat_for_tcp/src/Param_TEST.cc similarity index 100% rename from sdformat/src/Param_TEST.cc rename to sdformat_for_tcp/src/Param_TEST.cc diff --git a/sdformat/src/SDF.cc b/sdformat_for_tcp/src/SDF.cc similarity index 100% rename from sdformat/src/SDF.cc rename to sdformat_for_tcp/src/SDF.cc diff --git a/sdformat/src/SDFExtension.cc b/sdformat_for_tcp/src/SDFExtension.cc similarity index 100% rename from sdformat/src/SDFExtension.cc rename to sdformat_for_tcp/src/SDFExtension.cc diff --git a/sdformat/src/SDF_TEST.cc b/sdformat_for_tcp/src/SDF_TEST.cc similarity index 100% rename from sdformat/src/SDF_TEST.cc rename to sdformat_for_tcp/src/SDF_TEST.cc diff --git a/sdformat/src/Types.cc b/sdformat_for_tcp/src/Types.cc similarity index 100% rename from sdformat/src/Types.cc rename to sdformat_for_tcp/src/Types.cc diff --git a/sdformat/src/parser.cc b/sdformat_for_tcp/src/parser.cc similarity index 100% rename from sdformat/src/parser.cc rename to sdformat_for_tcp/src/parser.cc diff --git a/sdformat/src/parser_urdf.cc b/sdformat_for_tcp/src/parser_urdf.cc similarity index 100% rename from sdformat/src/parser_urdf.cc rename to sdformat_for_tcp/src/parser_urdf.cc diff --git a/sdformat/src/parser_urdf_TEST.cc b/sdformat_for_tcp/src/parser_urdf_TEST.cc similarity index 100% rename from sdformat/src/parser_urdf_TEST.cc rename to sdformat_for_tcp/src/parser_urdf_TEST.cc diff --git a/sdformat/src/urdf/urdf_exception/exception.h b/sdformat_for_tcp/src/urdf/urdf_exception/exception.h similarity index 100% rename from sdformat/src/urdf/urdf_exception/exception.h rename to sdformat_for_tcp/src/urdf/urdf_exception/exception.h diff --git a/sdformat/src/urdf/urdf_model/color.h b/sdformat_for_tcp/src/urdf/urdf_model/color.h similarity index 100% rename from sdformat/src/urdf/urdf_model/color.h rename to sdformat_for_tcp/src/urdf/urdf_model/color.h diff --git a/sdformat/src/urdf/urdf_model/joint.h b/sdformat_for_tcp/src/urdf/urdf_model/joint.h similarity index 100% rename from sdformat/src/urdf/urdf_model/joint.h rename to sdformat_for_tcp/src/urdf/urdf_model/joint.h diff --git a/sdformat/src/urdf/urdf_model/link.h b/sdformat_for_tcp/src/urdf/urdf_model/link.h similarity index 100% rename from sdformat/src/urdf/urdf_model/link.h rename to sdformat_for_tcp/src/urdf/urdf_model/link.h diff --git a/sdformat/src/urdf/urdf_model/model.h b/sdformat_for_tcp/src/urdf/urdf_model/model.h similarity index 100% rename from sdformat/src/urdf/urdf_model/model.h rename to sdformat_for_tcp/src/urdf/urdf_model/model.h diff --git a/sdformat/src/urdf/urdf_model/pose.h b/sdformat_for_tcp/src/urdf/urdf_model/pose.h similarity index 100% rename from sdformat/src/urdf/urdf_model/pose.h rename to sdformat_for_tcp/src/urdf/urdf_model/pose.h diff --git a/sdformat/src/urdf/urdf_model/twist.h b/sdformat_for_tcp/src/urdf/urdf_model/twist.h similarity index 100% rename from sdformat/src/urdf/urdf_model/twist.h rename to sdformat_for_tcp/src/urdf/urdf_model/twist.h diff --git a/sdformat/src/urdf/urdf_model_state/model_state.h b/sdformat_for_tcp/src/urdf/urdf_model_state/model_state.h similarity index 100% rename from sdformat/src/urdf/urdf_model_state/model_state.h rename to sdformat_for_tcp/src/urdf/urdf_model_state/model_state.h diff --git a/sdformat/src/urdf/urdf_model_state/twist.h b/sdformat_for_tcp/src/urdf/urdf_model_state/twist.h similarity index 100% rename from sdformat/src/urdf/urdf_model_state/twist.h rename to sdformat_for_tcp/src/urdf/urdf_model_state/twist.h diff --git a/sdformat/src/urdf/urdf_parser/check_urdf.cpp b/sdformat_for_tcp/src/urdf/urdf_parser/check_urdf.cpp similarity index 100% rename from sdformat/src/urdf/urdf_parser/check_urdf.cpp rename to sdformat_for_tcp/src/urdf/urdf_parser/check_urdf.cpp diff --git a/sdformat/src/urdf/urdf_parser/joint.cpp b/sdformat_for_tcp/src/urdf/urdf_parser/joint.cpp similarity index 100% rename from sdformat/src/urdf/urdf_parser/joint.cpp rename to sdformat_for_tcp/src/urdf/urdf_parser/joint.cpp diff --git a/sdformat/src/urdf/urdf_parser/link.cpp b/sdformat_for_tcp/src/urdf/urdf_parser/link.cpp similarity index 100% rename from sdformat/src/urdf/urdf_parser/link.cpp rename to sdformat_for_tcp/src/urdf/urdf_parser/link.cpp diff --git a/sdformat/src/urdf/urdf_parser/model.cpp b/sdformat_for_tcp/src/urdf/urdf_parser/model.cpp similarity index 100% rename from sdformat/src/urdf/urdf_parser/model.cpp rename to sdformat_for_tcp/src/urdf/urdf_parser/model.cpp diff --git a/sdformat/src/urdf/urdf_parser/pose.cpp b/sdformat_for_tcp/src/urdf/urdf_parser/pose.cpp similarity index 100% rename from sdformat/src/urdf/urdf_parser/pose.cpp rename to sdformat_for_tcp/src/urdf/urdf_parser/pose.cpp diff --git a/sdformat/src/urdf/urdf_parser/twist.cpp b/sdformat_for_tcp/src/urdf/urdf_parser/twist.cpp similarity index 100% rename from sdformat/src/urdf/urdf_parser/twist.cpp rename to sdformat_for_tcp/src/urdf/urdf_parser/twist.cpp diff --git a/sdformat/src/urdf/urdf_parser/urdf_model_state.cpp b/sdformat_for_tcp/src/urdf/urdf_parser/urdf_model_state.cpp similarity index 100% rename from sdformat/src/urdf/urdf_parser/urdf_model_state.cpp rename to sdformat_for_tcp/src/urdf/urdf_parser/urdf_model_state.cpp diff --git a/sdformat/src/urdf/urdf_parser/urdf_parser.h b/sdformat_for_tcp/src/urdf/urdf_parser/urdf_parser.h similarity index 100% rename from sdformat/src/urdf/urdf_parser/urdf_parser.h rename to sdformat_for_tcp/src/urdf/urdf_parser/urdf_parser.h diff --git a/sdformat/src/urdf/urdf_parser/urdf_sensor.cpp b/sdformat_for_tcp/src/urdf/urdf_parser/urdf_sensor.cpp similarity index 100% rename from sdformat/src/urdf/urdf_parser/urdf_sensor.cpp rename to sdformat_for_tcp/src/urdf/urdf_parser/urdf_sensor.cpp diff --git a/sdformat/src/urdf/urdf_parser/world.cpp b/sdformat_for_tcp/src/urdf/urdf_parser/world.cpp similarity index 100% rename from sdformat/src/urdf/urdf_parser/world.cpp rename to sdformat_for_tcp/src/urdf/urdf_parser/world.cpp diff --git a/sdformat/src/urdf/urdf_sensor/sensor.h b/sdformat_for_tcp/src/urdf/urdf_sensor/sensor.h similarity index 100% rename from sdformat/src/urdf/urdf_sensor/sensor.h rename to sdformat_for_tcp/src/urdf/urdf_sensor/sensor.h diff --git a/sdformat/src/urdf/urdf_world/world.h b/sdformat_for_tcp/src/urdf/urdf_world/world.h similarity index 100% rename from sdformat/src/urdf/urdf_world/world.h rename to sdformat_for_tcp/src/urdf/urdf_world/world.h diff --git a/sdformat/src/urdf/visible.h b/sdformat_for_tcp/src/urdf/visible.h similarity index 100% rename from sdformat/src/urdf/visible.h rename to sdformat_for_tcp/src/urdf/visible.h diff --git a/sdformat/src/win/tinyxml/VERSION_2.6.2 b/sdformat_for_tcp/src/win/tinyxml/VERSION_2.6.2 similarity index 100% rename from sdformat/src/win/tinyxml/VERSION_2.6.2 rename to sdformat_for_tcp/src/win/tinyxml/VERSION_2.6.2 diff --git a/sdformat/src/win/tinyxml/tinystr.cpp b/sdformat_for_tcp/src/win/tinyxml/tinystr.cpp similarity index 100% rename from sdformat/src/win/tinyxml/tinystr.cpp rename to sdformat_for_tcp/src/win/tinyxml/tinystr.cpp diff --git a/sdformat/src/win/tinyxml/tinystr.h b/sdformat_for_tcp/src/win/tinyxml/tinystr.h similarity index 100% rename from sdformat/src/win/tinyxml/tinystr.h rename to sdformat_for_tcp/src/win/tinyxml/tinystr.h diff --git a/sdformat/src/win/tinyxml/tinyxml.cpp b/sdformat_for_tcp/src/win/tinyxml/tinyxml.cpp similarity index 100% rename from sdformat/src/win/tinyxml/tinyxml.cpp rename to sdformat_for_tcp/src/win/tinyxml/tinyxml.cpp diff --git a/sdformat/src/win/tinyxml/tinyxml.h b/sdformat_for_tcp/src/win/tinyxml/tinyxml.h similarity index 100% rename from sdformat/src/win/tinyxml/tinyxml.h rename to sdformat_for_tcp/src/win/tinyxml/tinyxml.h diff --git a/sdformat/src/win/tinyxml/tinyxmlerror.cpp b/sdformat_for_tcp/src/win/tinyxml/tinyxmlerror.cpp similarity index 100% rename from sdformat/src/win/tinyxml/tinyxmlerror.cpp rename to sdformat_for_tcp/src/win/tinyxml/tinyxmlerror.cpp diff --git a/sdformat/src/win/tinyxml/tinyxmlparser.cpp b/sdformat_for_tcp/src/win/tinyxml/tinyxmlparser.cpp similarity index 100% rename from sdformat/src/win/tinyxml/tinyxmlparser.cpp rename to sdformat_for_tcp/src/win/tinyxml/tinyxmlparser.cpp diff --git a/sdformat/test/CMakeLists.txt b/sdformat_for_tcp/test/CMakeLists.txt similarity index 100% rename from sdformat/test/CMakeLists.txt rename to sdformat_for_tcp/test/CMakeLists.txt diff --git a/sdformat/test/gtest/cmake/internal_utils.cmake b/sdformat_for_tcp/test/gtest/cmake/internal_utils.cmake similarity index 100% rename from sdformat/test/gtest/cmake/internal_utils.cmake rename to sdformat_for_tcp/test/gtest/cmake/internal_utils.cmake diff --git a/sdformat/test/gtest/gtest-1.7.0.diff b/sdformat_for_tcp/test/gtest/gtest-1.7.0.diff similarity index 100% rename from sdformat/test/gtest/gtest-1.7.0.diff rename to sdformat_for_tcp/test/gtest/gtest-1.7.0.diff diff --git a/sdformat/test/gtest/include/gtest/gtest-death-test.h b/sdformat_for_tcp/test/gtest/include/gtest/gtest-death-test.h similarity index 100% rename from sdformat/test/gtest/include/gtest/gtest-death-test.h rename to sdformat_for_tcp/test/gtest/include/gtest/gtest-death-test.h diff --git a/sdformat/test/gtest/include/gtest/gtest-message.h b/sdformat_for_tcp/test/gtest/include/gtest/gtest-message.h similarity index 100% rename from sdformat/test/gtest/include/gtest/gtest-message.h rename to sdformat_for_tcp/test/gtest/include/gtest/gtest-message.h diff --git a/sdformat/test/gtest/include/gtest/gtest-param-test.h b/sdformat_for_tcp/test/gtest/include/gtest/gtest-param-test.h similarity index 100% rename from sdformat/test/gtest/include/gtest/gtest-param-test.h rename to sdformat_for_tcp/test/gtest/include/gtest/gtest-param-test.h diff --git a/sdformat/test/gtest/include/gtest/gtest-param-test.h.pump b/sdformat_for_tcp/test/gtest/include/gtest/gtest-param-test.h.pump similarity index 100% rename from sdformat/test/gtest/include/gtest/gtest-param-test.h.pump rename to sdformat_for_tcp/test/gtest/include/gtest/gtest-param-test.h.pump diff --git a/sdformat/test/gtest/include/gtest/gtest-printers.h b/sdformat_for_tcp/test/gtest/include/gtest/gtest-printers.h similarity index 100% rename from sdformat/test/gtest/include/gtest/gtest-printers.h rename to sdformat_for_tcp/test/gtest/include/gtest/gtest-printers.h diff --git a/sdformat/test/gtest/include/gtest/gtest-spi.h b/sdformat_for_tcp/test/gtest/include/gtest/gtest-spi.h similarity index 100% rename from sdformat/test/gtest/include/gtest/gtest-spi.h rename to sdformat_for_tcp/test/gtest/include/gtest/gtest-spi.h diff --git a/sdformat/test/gtest/include/gtest/gtest-test-part.h b/sdformat_for_tcp/test/gtest/include/gtest/gtest-test-part.h similarity index 100% rename from sdformat/test/gtest/include/gtest/gtest-test-part.h rename to sdformat_for_tcp/test/gtest/include/gtest/gtest-test-part.h diff --git a/sdformat/test/gtest/include/gtest/gtest-typed-test.h b/sdformat_for_tcp/test/gtest/include/gtest/gtest-typed-test.h similarity index 100% rename from sdformat/test/gtest/include/gtest/gtest-typed-test.h rename to sdformat_for_tcp/test/gtest/include/gtest/gtest-typed-test.h diff --git a/sdformat/test/gtest/include/gtest/gtest.h b/sdformat_for_tcp/test/gtest/include/gtest/gtest.h similarity index 100% rename from sdformat/test/gtest/include/gtest/gtest.h rename to sdformat_for_tcp/test/gtest/include/gtest/gtest.h diff --git a/sdformat/test/gtest/include/gtest/gtest_pred_impl.h b/sdformat_for_tcp/test/gtest/include/gtest/gtest_pred_impl.h similarity index 100% rename from sdformat/test/gtest/include/gtest/gtest_pred_impl.h rename to sdformat_for_tcp/test/gtest/include/gtest/gtest_pred_impl.h diff --git a/sdformat/test/gtest/include/gtest/gtest_prod.h b/sdformat_for_tcp/test/gtest/include/gtest/gtest_prod.h similarity index 100% rename from sdformat/test/gtest/include/gtest/gtest_prod.h rename to sdformat_for_tcp/test/gtest/include/gtest/gtest_prod.h diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-death-test-internal.h b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-death-test-internal.h similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-death-test-internal.h rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-death-test-internal.h diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-filepath.h b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-filepath.h similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-filepath.h rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-filepath.h diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-internal.h b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-internal.h similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-internal.h rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-internal.h diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-linked_ptr.h b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-linked_ptr.h similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-linked_ptr.h rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-linked_ptr.h diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-param-util-generated.h b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-param-util-generated.h similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-param-util-generated.h rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-param-util-generated.h diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-param-util-generated.h.pump b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-param-util-generated.h.pump similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-param-util-generated.h.pump rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-param-util-generated.h.pump diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-param-util.h b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-param-util.h similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-param-util.h rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-param-util.h diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-port.h b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-port.h similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-port.h rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-port.h diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-string.h b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-string.h similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-string.h rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-string.h diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-tuple.h b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-tuple.h similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-tuple.h rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-tuple.h diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-tuple.h.pump b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-tuple.h.pump similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-tuple.h.pump rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-tuple.h.pump diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-type-util.h b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-type-util.h similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-type-util.h rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-type-util.h diff --git a/sdformat/test/gtest/include/gtest/internal/gtest-type-util.h.pump b/sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-type-util.h.pump similarity index 100% rename from sdformat/test/gtest/include/gtest/internal/gtest-type-util.h.pump rename to sdformat_for_tcp/test/gtest/include/gtest/internal/gtest-type-util.h.pump diff --git a/sdformat/test/gtest/src/gtest-all.cc b/sdformat_for_tcp/test/gtest/src/gtest-all.cc similarity index 100% rename from sdformat/test/gtest/src/gtest-all.cc rename to sdformat_for_tcp/test/gtest/src/gtest-all.cc diff --git a/sdformat/test/gtest/src/gtest-death-test.cc b/sdformat_for_tcp/test/gtest/src/gtest-death-test.cc similarity index 100% rename from sdformat/test/gtest/src/gtest-death-test.cc rename to sdformat_for_tcp/test/gtest/src/gtest-death-test.cc diff --git a/sdformat/test/gtest/src/gtest-filepath.cc b/sdformat_for_tcp/test/gtest/src/gtest-filepath.cc similarity index 100% rename from sdformat/test/gtest/src/gtest-filepath.cc rename to sdformat_for_tcp/test/gtest/src/gtest-filepath.cc diff --git a/sdformat/test/gtest/src/gtest-internal-inl.h b/sdformat_for_tcp/test/gtest/src/gtest-internal-inl.h similarity index 100% rename from sdformat/test/gtest/src/gtest-internal-inl.h rename to sdformat_for_tcp/test/gtest/src/gtest-internal-inl.h diff --git a/sdformat/test/gtest/src/gtest-port.cc b/sdformat_for_tcp/test/gtest/src/gtest-port.cc similarity index 100% rename from sdformat/test/gtest/src/gtest-port.cc rename to sdformat_for_tcp/test/gtest/src/gtest-port.cc diff --git a/sdformat/test/gtest/src/gtest-printers.cc b/sdformat_for_tcp/test/gtest/src/gtest-printers.cc similarity index 100% rename from sdformat/test/gtest/src/gtest-printers.cc rename to sdformat_for_tcp/test/gtest/src/gtest-printers.cc diff --git a/sdformat/test/gtest/src/gtest-test-part.cc b/sdformat_for_tcp/test/gtest/src/gtest-test-part.cc similarity index 100% rename from sdformat/test/gtest/src/gtest-test-part.cc rename to sdformat_for_tcp/test/gtest/src/gtest-test-part.cc diff --git a/sdformat/test/gtest/src/gtest-typed-test.cc b/sdformat_for_tcp/test/gtest/src/gtest-typed-test.cc similarity index 100% rename from sdformat/test/gtest/src/gtest-typed-test.cc rename to sdformat_for_tcp/test/gtest/src/gtest-typed-test.cc diff --git a/sdformat/test/gtest/src/gtest.cc b/sdformat_for_tcp/test/gtest/src/gtest.cc similarity index 100% rename from sdformat/test/gtest/src/gtest.cc rename to sdformat_for_tcp/test/gtest/src/gtest.cc diff --git a/sdformat/test/gtest/src/gtest_main.cc b/sdformat_for_tcp/test/gtest/src/gtest_main.cc similarity index 100% rename from sdformat/test/gtest/src/gtest_main.cc rename to sdformat_for_tcp/test/gtest/src/gtest_main.cc diff --git a/sdformat/test/integration/CMakeLists.txt b/sdformat_for_tcp/test/integration/CMakeLists.txt similarity index 100% rename from sdformat/test/integration/CMakeLists.txt rename to sdformat_for_tcp/test/integration/CMakeLists.txt diff --git a/sdformat/test/integration/audio.cc b/sdformat_for_tcp/test/integration/audio.cc similarity index 100% rename from sdformat/test/integration/audio.cc rename to sdformat_for_tcp/test/integration/audio.cc diff --git a/sdformat/test/integration/audio.sdf b/sdformat_for_tcp/test/integration/audio.sdf similarity index 100% rename from sdformat/test/integration/audio.sdf rename to sdformat_for_tcp/test/integration/audio.sdf diff --git a/sdformat/test/integration/category_bitmask.cc b/sdformat_for_tcp/test/integration/category_bitmask.cc similarity index 100% rename from sdformat/test/integration/category_bitmask.cc rename to sdformat_for_tcp/test/integration/category_bitmask.cc diff --git a/sdformat/test/integration/cfm_damping_implicit_spring_damper.cc b/sdformat_for_tcp/test/integration/cfm_damping_implicit_spring_damper.cc similarity index 100% rename from sdformat/test/integration/cfm_damping_implicit_spring_damper.cc rename to sdformat_for_tcp/test/integration/cfm_damping_implicit_spring_damper.cc diff --git a/sdformat/test/integration/cfm_damping_implicit_spring_damper.sdf b/sdformat_for_tcp/test/integration/cfm_damping_implicit_spring_damper.sdf similarity index 100% rename from sdformat/test/integration/cfm_damping_implicit_spring_damper.sdf rename to sdformat_for_tcp/test/integration/cfm_damping_implicit_spring_damper.sdf diff --git a/sdformat/test/integration/cfm_damping_implicit_spring_damper.urdf b/sdformat_for_tcp/test/integration/cfm_damping_implicit_spring_damper.urdf similarity index 100% rename from sdformat/test/integration/cfm_damping_implicit_spring_damper.urdf rename to sdformat_for_tcp/test/integration/cfm_damping_implicit_spring_damper.urdf diff --git a/sdformat/test/integration/converter.cc b/sdformat_for_tcp/test/integration/converter.cc similarity index 100% rename from sdformat/test/integration/converter.cc rename to sdformat_for_tcp/test/integration/converter.cc diff --git a/sdformat/test/integration/disable_fixed_joint_reduction.cc b/sdformat_for_tcp/test/integration/disable_fixed_joint_reduction.cc similarity index 100% rename from sdformat/test/integration/disable_fixed_joint_reduction.cc rename to sdformat_for_tcp/test/integration/disable_fixed_joint_reduction.cc diff --git a/sdformat/test/integration/element_memory_leak.cc b/sdformat_for_tcp/test/integration/element_memory_leak.cc similarity index 100% rename from sdformat/test/integration/element_memory_leak.cc rename to sdformat_for_tcp/test/integration/element_memory_leak.cc diff --git a/sdformat/test/integration/fixed_joint_reduction.cc b/sdformat_for_tcp/test/integration/fixed_joint_reduction.cc similarity index 100% rename from sdformat/test/integration/fixed_joint_reduction.cc rename to sdformat_for_tcp/test/integration/fixed_joint_reduction.cc diff --git a/sdformat/test/integration/fixed_joint_reduction.urdf b/sdformat_for_tcp/test/integration/fixed_joint_reduction.urdf similarity index 100% rename from sdformat/test/integration/fixed_joint_reduction.urdf rename to sdformat_for_tcp/test/integration/fixed_joint_reduction.urdf diff --git a/sdformat/test/integration/fixed_joint_reduction_collision.urdf b/sdformat_for_tcp/test/integration/fixed_joint_reduction_collision.urdf similarity index 100% rename from sdformat/test/integration/fixed_joint_reduction_collision.urdf rename to sdformat_for_tcp/test/integration/fixed_joint_reduction_collision.urdf diff --git a/sdformat/test/integration/fixed_joint_reduction_collision_visual_empty_root.sdf b/sdformat_for_tcp/test/integration/fixed_joint_reduction_collision_visual_empty_root.sdf similarity index 100% rename from sdformat/test/integration/fixed_joint_reduction_collision_visual_empty_root.sdf rename to sdformat_for_tcp/test/integration/fixed_joint_reduction_collision_visual_empty_root.sdf diff --git a/sdformat/test/integration/fixed_joint_reduction_collision_visual_empty_root.urdf b/sdformat_for_tcp/test/integration/fixed_joint_reduction_collision_visual_empty_root.urdf similarity index 100% rename from sdformat/test/integration/fixed_joint_reduction_collision_visual_empty_root.urdf rename to sdformat_for_tcp/test/integration/fixed_joint_reduction_collision_visual_empty_root.urdf diff --git a/sdformat/test/integration/fixed_joint_reduction_collision_visual_extension.sdf b/sdformat_for_tcp/test/integration/fixed_joint_reduction_collision_visual_extension.sdf similarity index 100% rename from sdformat/test/integration/fixed_joint_reduction_collision_visual_extension.sdf rename to sdformat_for_tcp/test/integration/fixed_joint_reduction_collision_visual_extension.sdf diff --git a/sdformat/test/integration/fixed_joint_reduction_collision_visual_extension.urdf b/sdformat_for_tcp/test/integration/fixed_joint_reduction_collision_visual_extension.urdf similarity index 100% rename from sdformat/test/integration/fixed_joint_reduction_collision_visual_extension.urdf rename to sdformat_for_tcp/test/integration/fixed_joint_reduction_collision_visual_extension.urdf diff --git a/sdformat/test/integration/fixed_joint_reduction_disabled.urdf b/sdformat_for_tcp/test/integration/fixed_joint_reduction_disabled.urdf similarity index 100% rename from sdformat/test/integration/fixed_joint_reduction_disabled.urdf rename to sdformat_for_tcp/test/integration/fixed_joint_reduction_disabled.urdf diff --git a/sdformat/test/integration/fixed_joint_reduction_simple.urdf b/sdformat_for_tcp/test/integration/fixed_joint_reduction_simple.urdf similarity index 100% rename from sdformat/test/integration/fixed_joint_reduction_simple.urdf rename to sdformat_for_tcp/test/integration/fixed_joint_reduction_simple.urdf diff --git a/sdformat/test/integration/fixed_joint_reduction_visual.urdf b/sdformat_for_tcp/test/integration/fixed_joint_reduction_visual.urdf similarity index 100% rename from sdformat/test/integration/fixed_joint_reduction_visual.urdf rename to sdformat_for_tcp/test/integration/fixed_joint_reduction_visual.urdf diff --git a/sdformat/test/integration/force_torque_sensor.cc b/sdformat_for_tcp/test/integration/force_torque_sensor.cc similarity index 100% rename from sdformat/test/integration/force_torque_sensor.cc rename to sdformat_for_tcp/test/integration/force_torque_sensor.cc diff --git a/sdformat/test/integration/force_torque_sensor.urdf b/sdformat_for_tcp/test/integration/force_torque_sensor.urdf similarity index 100% rename from sdformat/test/integration/force_torque_sensor.urdf rename to sdformat_for_tcp/test/integration/force_torque_sensor.urdf diff --git a/sdformat/test/integration/frame.cc b/sdformat_for_tcp/test/integration/frame.cc similarity index 100% rename from sdformat/test/integration/frame.cc rename to sdformat_for_tcp/test/integration/frame.cc diff --git a/sdformat/test/integration/include.cc b/sdformat_for_tcp/test/integration/include.cc similarity index 100% rename from sdformat/test/integration/include.cc rename to sdformat_for_tcp/test/integration/include.cc diff --git a/sdformat/test/integration/include_description.sdf b/sdformat_for_tcp/test/integration/include_description.sdf similarity index 100% rename from sdformat/test/integration/include_description.sdf rename to sdformat_for_tcp/test/integration/include_description.sdf diff --git a/sdformat/test/integration/joint_axis_frame.cc b/sdformat_for_tcp/test/integration/joint_axis_frame.cc similarity index 100% rename from sdformat/test/integration/joint_axis_frame.cc rename to sdformat_for_tcp/test/integration/joint_axis_frame.cc diff --git a/sdformat/test/integration/link_light.cc b/sdformat_for_tcp/test/integration/link_light.cc similarity index 100% rename from sdformat/test/integration/link_light.cc rename to sdformat_for_tcp/test/integration/link_light.cc diff --git a/sdformat/test/integration/locale_fix.cc b/sdformat_for_tcp/test/integration/locale_fix.cc similarity index 100% rename from sdformat/test/integration/locale_fix.cc rename to sdformat_for_tcp/test/integration/locale_fix.cc diff --git a/sdformat/test/integration/model/box/model.config b/sdformat_for_tcp/test/integration/model/box/model.config similarity index 100% rename from sdformat/test/integration/model/box/model.config rename to sdformat_for_tcp/test/integration/model/box/model.config diff --git a/sdformat/test/integration/model/box/model.sdf b/sdformat_for_tcp/test/integration/model/box/model.sdf similarity index 100% rename from sdformat/test/integration/model/box/model.sdf rename to sdformat_for_tcp/test/integration/model/box/model.sdf diff --git a/sdformat/test/integration/model/cococan/model-100.sdf b/sdformat_for_tcp/test/integration/model/cococan/model-100.sdf similarity index 100% rename from sdformat/test/integration/model/cococan/model-100.sdf rename to sdformat_for_tcp/test/integration/model/cococan/model-100.sdf diff --git a/sdformat/test/integration/model/cococan/model-1_2.sdf b/sdformat_for_tcp/test/integration/model/cococan/model-1_2.sdf similarity index 100% rename from sdformat/test/integration/model/cococan/model-1_2.sdf rename to sdformat_for_tcp/test/integration/model/cococan/model-1_2.sdf diff --git a/sdformat/test/integration/model/cococan/model-1_4.sdf b/sdformat_for_tcp/test/integration/model/cococan/model-1_4.sdf similarity index 100% rename from sdformat/test/integration/model/cococan/model-1_4.sdf rename to sdformat_for_tcp/test/integration/model/cococan/model-1_4.sdf diff --git a/sdformat/test/integration/model/cococan/model.config b/sdformat_for_tcp/test/integration/model/cococan/model.config similarity index 100% rename from sdformat/test/integration/model/cococan/model.config rename to sdformat_for_tcp/test/integration/model/cococan/model.config diff --git a/sdformat/test/integration/model/cococan_malformed/model.config b/sdformat_for_tcp/test/integration/model/cococan_malformed/model.config similarity index 100% rename from sdformat/test/integration/model/cococan_malformed/model.config rename to sdformat_for_tcp/test/integration/model/cococan_malformed/model.config diff --git a/sdformat/test/integration/model/cococan_noversiontag/model-1_2.sdf b/sdformat_for_tcp/test/integration/model/cococan_noversiontag/model-1_2.sdf similarity index 100% rename from sdformat/test/integration/model/cococan_noversiontag/model-1_2.sdf rename to sdformat_for_tcp/test/integration/model/cococan_noversiontag/model-1_2.sdf diff --git a/sdformat/test/integration/model/cococan_noversiontag/model-1_4.sdf b/sdformat_for_tcp/test/integration/model/cococan_noversiontag/model-1_4.sdf similarity index 100% rename from sdformat/test/integration/model/cococan_noversiontag/model-1_4.sdf rename to sdformat_for_tcp/test/integration/model/cococan_noversiontag/model-1_4.sdf diff --git a/sdformat/test/integration/model/cococan_noversiontag/model.config b/sdformat_for_tcp/test/integration/model/cococan_noversiontag/model.config similarity index 100% rename from sdformat/test/integration/model/cococan_noversiontag/model.config rename to sdformat_for_tcp/test/integration/model/cococan_noversiontag/model.config diff --git a/sdformat/test/integration/model/double_pendulum.sdf b/sdformat_for_tcp/test/integration/model/double_pendulum.sdf similarity index 100% rename from sdformat/test/integration/model/double_pendulum.sdf rename to sdformat_for_tcp/test/integration/model/double_pendulum.sdf diff --git a/sdformat/test/integration/model/pr2.sdf b/sdformat_for_tcp/test/integration/model/pr2.sdf similarity index 100% rename from sdformat/test/integration/model/pr2.sdf rename to sdformat_for_tcp/test/integration/model/pr2.sdf diff --git a/sdformat/test/integration/model/turtlebot.sdf b/sdformat_for_tcp/test/integration/model/turtlebot.sdf similarity index 100% rename from sdformat/test/integration/model/turtlebot.sdf rename to sdformat_for_tcp/test/integration/model/turtlebot.sdf diff --git a/sdformat/test/integration/model_versions.cc b/sdformat_for_tcp/test/integration/model_versions.cc similarity index 100% rename from sdformat/test/integration/model_versions.cc rename to sdformat_for_tcp/test/integration/model_versions.cc diff --git a/sdformat/test/integration/nested_model.cc b/sdformat_for_tcp/test/integration/nested_model.cc similarity index 100% rename from sdformat/test/integration/nested_model.cc rename to sdformat_for_tcp/test/integration/nested_model.cc diff --git a/sdformat/test/integration/numeric.sdf b/sdformat_for_tcp/test/integration/numeric.sdf similarity index 100% rename from sdformat/test/integration/numeric.sdf rename to sdformat_for_tcp/test/integration/numeric.sdf diff --git a/sdformat/test/integration/parser_error_detection.cc b/sdformat_for_tcp/test/integration/parser_error_detection.cc similarity index 100% rename from sdformat/test/integration/parser_error_detection.cc rename to sdformat_for_tcp/test/integration/parser_error_detection.cc diff --git a/sdformat/test/integration/plugin_attribute.cc b/sdformat_for_tcp/test/integration/plugin_attribute.cc similarity index 100% rename from sdformat/test/integration/plugin_attribute.cc rename to sdformat_for_tcp/test/integration/plugin_attribute.cc diff --git a/sdformat/test/integration/plugin_bool.cc b/sdformat_for_tcp/test/integration/plugin_bool.cc similarity index 100% rename from sdformat/test/integration/plugin_bool.cc rename to sdformat_for_tcp/test/integration/plugin_bool.cc diff --git a/sdformat/test/integration/plugin_include.cc b/sdformat_for_tcp/test/integration/plugin_include.cc similarity index 100% rename from sdformat/test/integration/plugin_include.cc rename to sdformat_for_tcp/test/integration/plugin_include.cc diff --git a/sdformat/test/integration/provide_feedback.cc b/sdformat_for_tcp/test/integration/provide_feedback.cc similarity index 100% rename from sdformat/test/integration/provide_feedback.cc rename to sdformat_for_tcp/test/integration/provide_feedback.cc diff --git a/sdformat/test/integration/provide_feedback.urdf b/sdformat_for_tcp/test/integration/provide_feedback.urdf similarity index 100% rename from sdformat/test/integration/provide_feedback.urdf rename to sdformat_for_tcp/test/integration/provide_feedback.urdf diff --git a/sdformat/test/integration/schema_test.cc b/sdformat_for_tcp/test/integration/schema_test.cc similarity index 100% rename from sdformat/test/integration/schema_test.cc rename to sdformat_for_tcp/test/integration/schema_test.cc diff --git a/sdformat/test/integration/urdf_gazebo_extensions.cc b/sdformat_for_tcp/test/integration/urdf_gazebo_extensions.cc similarity index 100% rename from sdformat/test/integration/urdf_gazebo_extensions.cc rename to sdformat_for_tcp/test/integration/urdf_gazebo_extensions.cc diff --git a/sdformat/test/integration/urdf_gazebo_extensions.urdf b/sdformat_for_tcp/test/integration/urdf_gazebo_extensions.urdf similarity index 100% rename from sdformat/test/integration/urdf_gazebo_extensions.urdf rename to sdformat_for_tcp/test/integration/urdf_gazebo_extensions.urdf diff --git a/sdformat/test/integration/urdf_joint_parameters.cc b/sdformat_for_tcp/test/integration/urdf_joint_parameters.cc similarity index 100% rename from sdformat/test/integration/urdf_joint_parameters.cc rename to sdformat_for_tcp/test/integration/urdf_joint_parameters.cc diff --git a/sdformat/test/integration/urdf_joint_parameters.urdf b/sdformat_for_tcp/test/integration/urdf_joint_parameters.urdf similarity index 100% rename from sdformat/test/integration/urdf_joint_parameters.urdf rename to sdformat_for_tcp/test/integration/urdf_joint_parameters.urdf diff --git a/sdformat/test/performance/CMakeLists.txt b/sdformat_for_tcp/test/performance/CMakeLists.txt similarity index 100% rename from sdformat/test/performance/CMakeLists.txt rename to sdformat_for_tcp/test/performance/CMakeLists.txt diff --git a/sdformat/test/performance/parser_urdf.cc b/sdformat_for_tcp/test/performance/parser_urdf.cc similarity index 100% rename from sdformat/test/performance/parser_urdf.cc rename to sdformat_for_tcp/test/performance/parser_urdf.cc diff --git a/sdformat/test/performance/parser_urdf_atlas.urdf b/sdformat_for_tcp/test/performance/parser_urdf_atlas.urdf similarity index 100% rename from sdformat/test/performance/parser_urdf_atlas.urdf rename to sdformat_for_tcp/test/performance/parser_urdf_atlas.urdf diff --git a/sdformat/test/test_config.h.in b/sdformat_for_tcp/test/test_config.h.in similarity index 100% rename from sdformat/test/test_config.h.in rename to sdformat_for_tcp/test/test_config.h.in diff --git a/sdformat/tools/check_test_ran.py b/sdformat_for_tcp/tools/check_test_ran.py similarity index 100% rename from sdformat/tools/check_test_ran.py rename to sdformat_for_tcp/tools/check_test_ran.py diff --git a/sdformat/tools/code_check.sh b/sdformat_for_tcp/tools/code_check.sh similarity index 100% rename from sdformat/tools/code_check.sh rename to sdformat_for_tcp/tools/code_check.sh diff --git a/sdformat/tools/cpplint.py b/sdformat_for_tcp/tools/cpplint.py similarity index 100% rename from sdformat/tools/cpplint.py rename to sdformat_for_tcp/tools/cpplint.py diff --git a/sdformat/tools/cpplint_to_cppcheckxml.py b/sdformat_for_tcp/tools/cpplint_to_cppcheckxml.py similarity index 100% rename from sdformat/tools/cpplint_to_cppcheckxml.py rename to sdformat_for_tcp/tools/cpplint_to_cppcheckxml.py diff --git a/sdformat/tools/get_mem_info.py b/sdformat_for_tcp/tools/get_mem_info.py similarity index 100% rename from sdformat/tools/get_mem_info.py rename to sdformat_for_tcp/tools/get_mem_info.py diff --git a/sdformat/tools/xmlschema.rb b/sdformat_for_tcp/tools/xmlschema.rb similarity index 100% rename from sdformat/tools/xmlschema.rb rename to sdformat_for_tcp/tools/xmlschema.rb