diff --git a/maps_server/CMakeLists.txt b/CMakeLists.txt
similarity index 100%
rename from maps_server/CMakeLists.txt
rename to CMakeLists.txt
diff --git a/Makefile b/Makefile
index 1cdc3c7..2216901 100644
--- a/Makefile
+++ b/Makefile
@@ -1,35 +1,49 @@
+# Default pod makefile distributed with pods version: 12.09.21
+
 default_target: all
 
-# get a list of subdirs to build by reading tobuild.txt
-SUBDIRS:=$(shell grep -v "^\#" tobuild.txt)
+# Default to a less-verbose build.  If you want all the gory compiler output,
+# run "make VERBOSE=1"
+$(VERBOSE).SILENT:
 
 # Figure out where to build the software.
 #   Use BUILD_PREFIX if it was passed in.
-#   If not, search up to three parent directories for a 'build' directory.
+#   If not, search up to four parent directories for a 'build' directory.
 #   Otherwise, use ./build.
 ifeq "$(BUILD_PREFIX)" ""
-BUILD_PREFIX=$(shell for pfx in ./ .. ../.. ../../..; do d=`pwd`/$$pfx/build; \
+BUILD_PREFIX:=$(shell for pfx in ./ .. ../.. ../../.. ../../../..; do d=`pwd`/$$pfx/build;\
                if [ -d $$d ]; then echo $$d; exit 0; fi; done; echo `pwd`/build)
 endif
+# create the build directory if needed, and normalize its path name
+BUILD_PREFIX:=$(shell mkdir -p $(BUILD_PREFIX) && cd $(BUILD_PREFIX) && echo `pwd`)
 
-# build quietly by default.  For a verbose build, run "make VERBOSE=1"
-$(VERBOSE).SILENT:
+# Default to a release build.  If you want to enable debugging flags, run
+# "make BUILD_TYPE=Debug"
+ifeq "$(BUILD_TYPE)" ""
+BUILD_TYPE="Release"
+endif
+
+all: pod-build/Makefile
+	$(MAKE) -C pod-build all install
 
-all: 
-	@[ -d $(BUILD_PREFIX) ] || mkdir -p $(BUILD_PREFIX) || exit 1
-	@for subdir in $(SUBDIRS); do \
-		echo "\n-------------------------------------------"; \
-		echo "-- $$subdir"; \
-		echo "-------------------------------------------"; \
-		$(MAKE) -C $$subdir all || exit 2; \
-	done
-	@# Place additional commands here if you have any
+pod-build/Makefile:
+	$(MAKE) configure
+
+.PHONY: configure
+configure:
+	@echo "\nBUILD_PREFIX: $(BUILD_PREFIX)\n\n"
+
+	# create the temporary build directory if needed
+	@mkdir -p pod-build
+
+	# run CMake to generate and configure the build scripts
+	@cd pod-build && cmake -DCMAKE_INSTALL_PREFIX=$(BUILD_PREFIX) \
+		   -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) ..
 
 clean:
-	@for subdir in $(SUBDIRS); do \
-		echo "\n-------------------------------------------"; \
-		echo "-- $$subdir"; \
-		echo "-------------------------------------------"; \
-		$(MAKE) -C $$subdir clean; \
-	done
-	@# Place additional commands here if you have any
+	-if [ -e pod-build/install_manifest.txt ]; then rm -f `cat pod-build/install_manifest.txt`; fi
+	-if [ -d pod-build ]; then $(MAKE) -C pod-build clean; rm -rf pod-build; fi
+
+# other (custom) targets are passed through to the cmake-generated Makefile 
+%::
+	$(MAKE) -C pod-build $@
\ No newline at end of file
diff --git a/maps_server/README b/README
similarity index 100%
rename from maps_server/README
rename to README
diff --git a/maps_server/cmake/lcmtypes.cmake b/cmake/lcmtypes.cmake
similarity index 100%
rename from maps_server/cmake/lcmtypes.cmake
rename to cmake/lcmtypes.cmake
diff --git a/maps_server/cmake/pods.cmake b/cmake/pods.cmake
similarity index 100%
rename from maps_server/cmake/pods.cmake
rename to cmake/pods.cmake
diff --git a/maps_server/lcmtypes/maps_blob_t.lcm b/lcmtypes/maps_blob_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_blob_t.lcm
rename to lcmtypes/maps_blob_t.lcm
diff --git a/maps_server/lcmtypes/maps_catalog_t.lcm b/lcmtypes/maps_catalog_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_catalog_t.lcm
rename to lcmtypes/maps_catalog_t.lcm
diff --git a/maps_server/lcmtypes/maps_cloud_t.lcm b/lcmtypes/maps_cloud_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_cloud_t.lcm
rename to lcmtypes/maps_cloud_t.lcm
diff --git a/maps_server/lcmtypes/maps_command_t.lcm b/lcmtypes/maps_command_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_command_t.lcm
rename to lcmtypes/maps_command_t.lcm
diff --git a/maps_server/lcmtypes/maps_data_request_list_t.lcm b/lcmtypes/maps_data_request_list_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_data_request_list_t.lcm
rename to lcmtypes/maps_data_request_list_t.lcm
diff --git a/maps_server/lcmtypes/maps_data_request_t.lcm b/lcmtypes/maps_data_request_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_data_request_t.lcm
rename to lcmtypes/maps_data_request_t.lcm
diff --git a/maps_server/lcmtypes/maps_depth_settings_t.lcm b/lcmtypes/maps_depth_settings_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_depth_settings_t.lcm
rename to lcmtypes/maps_depth_settings_t.lcm
diff --git a/maps_server/lcmtypes/maps_image_t.lcm b/lcmtypes/maps_image_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_image_t.lcm
rename to lcmtypes/maps_image_t.lcm
diff --git a/maps_server/lcmtypes/maps_octree_t.lcm b/lcmtypes/maps_octree_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_octree_t.lcm
rename to lcmtypes/maps_octree_t.lcm
diff --git a/maps_server/lcmtypes/maps_params_t.lcm b/lcmtypes/maps_params_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_params_t.lcm
rename to lcmtypes/maps_params_t.lcm
diff --git a/maps_server/lcmtypes/maps_pointcloud_request_t.lcm b/lcmtypes/maps_pointcloud_request_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_pointcloud_request_t.lcm
rename to lcmtypes/maps_pointcloud_request_t.lcm
diff --git a/maps_server/lcmtypes/maps_registration_command_t.lcm b/lcmtypes/maps_registration_command_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_registration_command_t.lcm
rename to lcmtypes/maps_registration_command_t.lcm
diff --git a/maps_server/lcmtypes/maps_request_t.lcm b/lcmtypes/maps_request_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_request_t.lcm
rename to lcmtypes/maps_request_t.lcm
diff --git a/maps_server/lcmtypes/maps_scan_t.lcm b/lcmtypes/maps_scan_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_scan_t.lcm
rename to lcmtypes/maps_scan_t.lcm
diff --git a/maps_server/lcmtypes/maps_scans_t.lcm b/lcmtypes/maps_scans_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_scans_t.lcm
rename to lcmtypes/maps_scans_t.lcm
diff --git a/maps_server/lcmtypes/maps_shaper_data_request_t.lcm b/lcmtypes/maps_shaper_data_request_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_shaper_data_request_t.lcm
rename to lcmtypes/maps_shaper_data_request_t.lcm
diff --git a/maps_server/lcmtypes/maps_snapshot_request_t.lcm b/lcmtypes/maps_snapshot_request_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_snapshot_request_t.lcm
rename to lcmtypes/maps_snapshot_request_t.lcm
diff --git a/maps_server/lcmtypes/maps_subimage_request_t.lcm b/lcmtypes/maps_subimage_request_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_subimage_request_t.lcm
rename to lcmtypes/maps_subimage_request_t.lcm
diff --git a/maps_server/lcmtypes/maps_subimage_response_t.lcm b/lcmtypes/maps_subimage_response_t.lcm
similarity index 100%
rename from maps_server/lcmtypes/maps_subimage_response_t.lcm
rename to lcmtypes/maps_subimage_response_t.lcm
diff --git a/maps_server/.gitignore b/maps_server/.gitignore
deleted file mode 100644
index 27c591d..0000000
--- a/maps_server/.gitignore
+++ /dev/null
@@ -1 +0,0 @@
-/pod-build
diff --git a/maps_server/Makefile b/maps_server/Makefile
deleted file mode 100644
index 2216901..0000000
--- a/maps_server/Makefile
+++ /dev/null
@@ -1,49 +0,0 @@
-# Default pod makefile distributed with pods version: 12.09.21
-
-default_target: all
-
-# Default to a less-verbose build.  If you want all the gory compiler output,
-# run "make VERBOSE=1"
-$(VERBOSE).SILENT:
-
-# Figure out where to build the software.
-#   Use BUILD_PREFIX if it was passed in.
-#   If not, search up to four parent directories for a 'build' directory.
-#   Otherwise, use ./build.
-ifeq "$(BUILD_PREFIX)" ""
-BUILD_PREFIX:=$(shell for pfx in ./ .. ../.. ../../.. ../../../..; do d=`pwd`/$$pfx/build;\
-               if [ -d $$d ]; then echo $$d; exit 0; fi; done; echo `pwd`/build)
-endif
-# create the build directory if needed, and normalize its path name
-BUILD_PREFIX:=$(shell mkdir -p $(BUILD_PREFIX) && cd $(BUILD_PREFIX) && echo `pwd`)
-
-# Default to a release build.  If you want to enable debugging flags, run
-# "make BUILD_TYPE=Debug"
-ifeq "$(BUILD_TYPE)" ""
-BUILD_TYPE="Release"
-endif
-
-all: pod-build/Makefile
-	$(MAKE) -C pod-build all install
-
-pod-build/Makefile:
-	$(MAKE) configure
-
-.PHONY: configure
-configure:
-	@echo "\nBUILD_PREFIX: $(BUILD_PREFIX)\n\n"
-
-	# create the temporary build directory if needed
-	@mkdir -p pod-build
-
-	# run CMake to generate and configure the build scripts
-	@cd pod-build && cmake -DCMAKE_INSTALL_PREFIX=$(BUILD_PREFIX) \
-		   -DCMAKE_BUILD_TYPE=$(BUILD_TYPE) ..
-
-clean:
-	-if [ -e pod-build/install_manifest.txt ]; then rm -f `cat pod-build/install_manifest.txt`; fi
-	-if [ -d pod-build ]; then $(MAKE) -C pod-build clean; rm -rf pod-build; fi
-
-# other (custom) targets are passed through to the cmake-generated Makefile 
-%::
-	$(MAKE) -C pod-build $@
\ No newline at end of file
diff --git a/maps_server/python/publish_maps_request.py b/python/publish_maps_request.py
similarity index 100%
rename from maps_server/python/publish_maps_request.py
rename to python/publish_maps_request.py
diff --git a/maps_server/src/apps/AffordanceUpdater.cpp b/src/apps/AffordanceUpdater.cpp
similarity index 100%
rename from maps_server/src/apps/AffordanceUpdater.cpp
rename to src/apps/AffordanceUpdater.cpp
diff --git a/maps_server/src/apps/CMakeLists.txt b/src/apps/CMakeLists.txt
similarity index 100%
rename from maps_server/src/apps/CMakeLists.txt
rename to src/apps/CMakeLists.txt
diff --git a/maps_server/src/apps/DataRequestServer.cpp b/src/apps/DataRequestServer.cpp
similarity index 100%
rename from maps_server/src/apps/DataRequestServer.cpp
rename to src/apps/DataRequestServer.cpp
diff --git a/maps_server/src/apps/PointCloudRegistrar.cpp b/src/apps/PointCloudRegistrar.cpp
similarity index 100%
rename from maps_server/src/apps/PointCloudRegistrar.cpp
rename to src/apps/PointCloudRegistrar.cpp
diff --git a/maps_server/src/apps/RobotState.cpp b/src/apps/RobotState.cpp
similarity index 100%
rename from maps_server/src/apps/RobotState.cpp
rename to src/apps/RobotState.cpp
diff --git a/maps_server/src/apps/RobotState.hpp b/src/apps/RobotState.hpp
similarity index 100%
rename from maps_server/src/apps/RobotState.hpp
rename to src/apps/RobotState.hpp
diff --git a/maps_server/src/apps/SnapshotServer.cpp b/src/apps/SnapshotServer.cpp
similarity index 100%
rename from maps_server/src/apps/SnapshotServer.cpp
rename to src/apps/SnapshotServer.cpp
diff --git a/maps_server/src/apps/TestCollector.cpp b/src/apps/TestCollector.cpp
similarity index 100%
rename from maps_server/src/apps/TestCollector.cpp
rename to src/apps/TestCollector.cpp
diff --git a/maps_server/src/apps/TestMain.cpp b/src/apps/TestMain.cpp
similarity index 100%
rename from maps_server/src/apps/TestMain.cpp
rename to src/apps/TestMain.cpp
diff --git a/maps_server/src/libmaps-mini/CMakeLists.txt b/src/libmaps-mini/CMakeLists.txt
similarity index 100%
rename from maps_server/src/libmaps-mini/CMakeLists.txt
rename to src/libmaps-mini/CMakeLists.txt
diff --git a/maps_server/src/libmaps-mini/DataBlob.cpp b/src/libmaps-mini/DataBlob.cpp
similarity index 100%
rename from maps_server/src/libmaps-mini/DataBlob.cpp
rename to src/libmaps-mini/DataBlob.cpp
diff --git a/maps_server/src/libmaps-mini/DataBlob.hpp b/src/libmaps-mini/DataBlob.hpp
similarity index 100%
rename from maps_server/src/libmaps-mini/DataBlob.hpp
rename to src/libmaps-mini/DataBlob.hpp
diff --git a/maps_server/src/libmaps-mini/DepthImage.cpp b/src/libmaps-mini/DepthImage.cpp
similarity index 100%
rename from maps_server/src/libmaps-mini/DepthImage.cpp
rename to src/libmaps-mini/DepthImage.cpp
diff --git a/maps_server/src/libmaps-mini/DepthImage.hpp b/src/libmaps-mini/DepthImage.hpp
similarity index 100%
rename from maps_server/src/libmaps-mini/DepthImage.hpp
rename to src/libmaps-mini/DepthImage.hpp
diff --git a/maps_server/src/libmaps-mini/DepthImageView.cpp b/src/libmaps-mini/DepthImageView.cpp
similarity index 100%
rename from maps_server/src/libmaps-mini/DepthImageView.cpp
rename to src/libmaps-mini/DepthImageView.cpp
diff --git a/maps_server/src/libmaps-mini/DepthImageView.hpp b/src/libmaps-mini/DepthImageView.hpp
similarity index 100%
rename from maps_server/src/libmaps-mini/DepthImageView.hpp
rename to src/libmaps-mini/DepthImageView.hpp
diff --git a/maps_server/src/libmaps-mini/LcmTranslator.cpp b/src/libmaps-mini/LcmTranslator.cpp
similarity index 100%
rename from maps_server/src/libmaps-mini/LcmTranslator.cpp
rename to src/libmaps-mini/LcmTranslator.cpp
diff --git a/maps_server/src/libmaps-mini/LcmTranslator.hpp b/src/libmaps-mini/LcmTranslator.hpp
similarity index 100%
rename from maps_server/src/libmaps-mini/LcmTranslator.hpp
rename to src/libmaps-mini/LcmTranslator.hpp
diff --git a/maps_server/src/libmaps-mini/ObjectPool.hpp b/src/libmaps-mini/ObjectPool.hpp
similarity index 100%
rename from maps_server/src/libmaps-mini/ObjectPool.hpp
rename to src/libmaps-mini/ObjectPool.hpp
diff --git a/maps_server/src/libmaps-mini/RansacGeneric.hpp b/src/libmaps-mini/RansacGeneric.hpp
similarity index 100%
rename from maps_server/src/libmaps-mini/RansacGeneric.hpp
rename to src/libmaps-mini/RansacGeneric.hpp
diff --git a/maps_server/src/libmaps-mini/TestMain.cpp b/src/libmaps-mini/TestMain.cpp
similarity index 100%
rename from maps_server/src/libmaps-mini/TestMain.cpp
rename to src/libmaps-mini/TestMain.cpp
diff --git a/maps_server/src/libmaps-mini/ThreadSafeQueue.hpp b/src/libmaps-mini/ThreadSafeQueue.hpp
similarity index 100%
rename from maps_server/src/libmaps-mini/ThreadSafeQueue.hpp
rename to src/libmaps-mini/ThreadSafeQueue.hpp
diff --git a/maps_server/src/libmaps-mini/Utils.cpp b/src/libmaps-mini/Utils.cpp
similarity index 100%
rename from maps_server/src/libmaps-mini/Utils.cpp
rename to src/libmaps-mini/Utils.cpp
diff --git a/maps_server/src/libmaps-mini/Utils.hpp b/src/libmaps-mini/Utils.hpp
similarity index 100%
rename from maps_server/src/libmaps-mini/Utils.hpp
rename to src/libmaps-mini/Utils.hpp
diff --git a/maps_server/src/libmaps-mini/ViewBase.cpp b/src/libmaps-mini/ViewBase.cpp
similarity index 100%
rename from maps_server/src/libmaps-mini/ViewBase.cpp
rename to src/libmaps-mini/ViewBase.cpp
diff --git a/maps_server/src/libmaps-mini/ViewBase.hpp b/src/libmaps-mini/ViewBase.hpp
similarity index 100%
rename from maps_server/src/libmaps-mini/ViewBase.hpp
rename to src/libmaps-mini/ViewBase.hpp
diff --git a/maps_server/src/libmaps-mini/ViewClient.cpp b/src/libmaps-mini/ViewClient.cpp
similarity index 100%
rename from maps_server/src/libmaps-mini/ViewClient.cpp
rename to src/libmaps-mini/ViewClient.cpp
diff --git a/maps_server/src/libmaps-mini/ViewClient.hpp b/src/libmaps-mini/ViewClient.hpp
similarity index 100%
rename from maps_server/src/libmaps-mini/ViewClient.hpp
rename to src/libmaps-mini/ViewClient.hpp
diff --git a/maps_server/src/libmaps/CMakeLists.txt b/src/libmaps/CMakeLists.txt
similarity index 100%
rename from maps_server/src/libmaps/CMakeLists.txt
rename to src/libmaps/CMakeLists.txt
diff --git a/maps_server/src/libmaps/Camera.cpp b/src/libmaps/Camera.cpp
similarity index 100%
rename from maps_server/src/libmaps/Camera.cpp
rename to src/libmaps/Camera.cpp
diff --git a/maps_server/src/libmaps/Camera.hpp b/src/libmaps/Camera.hpp
similarity index 100%
rename from maps_server/src/libmaps/Camera.hpp
rename to src/libmaps/Camera.hpp
diff --git a/maps_server/src/libmaps/Collector.cpp b/src/libmaps/Collector.cpp
similarity index 100%
rename from maps_server/src/libmaps/Collector.cpp
rename to src/libmaps/Collector.cpp
diff --git a/maps_server/src/libmaps/Collector.hpp b/src/libmaps/Collector.hpp
similarity index 100%
rename from maps_server/src/libmaps/Collector.hpp
rename to src/libmaps/Collector.hpp
diff --git a/maps_server/src/libmaps/DataBlob.cpp b/src/libmaps/DataBlob.cpp
similarity index 100%
rename from maps_server/src/libmaps/DataBlob.cpp
rename to src/libmaps/DataBlob.cpp
diff --git a/maps_server/src/libmaps/DataBlob.hpp b/src/libmaps/DataBlob.hpp
similarity index 100%
rename from maps_server/src/libmaps/DataBlob.hpp
rename to src/libmaps/DataBlob.hpp
diff --git a/maps_server/src/libmaps/DepthImage.cpp b/src/libmaps/DepthImage.cpp
similarity index 100%
rename from maps_server/src/libmaps/DepthImage.cpp
rename to src/libmaps/DepthImage.cpp
diff --git a/maps_server/src/libmaps/DepthImage.hpp b/src/libmaps/DepthImage.hpp
similarity index 100%
rename from maps_server/src/libmaps/DepthImage.hpp
rename to src/libmaps/DepthImage.hpp
diff --git a/maps_server/src/libmaps/DepthImageView.cpp b/src/libmaps/DepthImageView.cpp
similarity index 100%
rename from maps_server/src/libmaps/DepthImageView.cpp
rename to src/libmaps/DepthImageView.cpp
diff --git a/maps_server/src/libmaps/DepthImageView.hpp b/src/libmaps/DepthImageView.hpp
similarity index 100%
rename from maps_server/src/libmaps/DepthImageView.hpp
rename to src/libmaps/DepthImageView.hpp
diff --git a/maps_server/src/libmaps/LidarScan.cpp b/src/libmaps/LidarScan.cpp
similarity index 100%
rename from maps_server/src/libmaps/LidarScan.cpp
rename to src/libmaps/LidarScan.cpp
diff --git a/maps_server/src/libmaps/LidarScan.hpp b/src/libmaps/LidarScan.hpp
similarity index 100%
rename from maps_server/src/libmaps/LidarScan.hpp
rename to src/libmaps/LidarScan.hpp
diff --git a/maps_server/src/libmaps/LidarUtils.cpp b/src/libmaps/LidarUtils.cpp
similarity index 100%
rename from maps_server/src/libmaps/LidarUtils.cpp
rename to src/libmaps/LidarUtils.cpp
diff --git a/maps_server/src/libmaps/LidarUtils.hpp b/src/libmaps/LidarUtils.hpp
similarity index 100%
rename from maps_server/src/libmaps/LidarUtils.hpp
rename to src/libmaps/LidarUtils.hpp
diff --git a/maps_server/src/libmaps/LocalMap.cpp b/src/libmaps/LocalMap.cpp
similarity index 100%
rename from maps_server/src/libmaps/LocalMap.cpp
rename to src/libmaps/LocalMap.cpp
diff --git a/maps_server/src/libmaps/LocalMap.hpp b/src/libmaps/LocalMap.hpp
similarity index 100%
rename from maps_server/src/libmaps/LocalMap.hpp
rename to src/libmaps/LocalMap.hpp
diff --git a/maps_server/src/libmaps/MapManager.cpp b/src/libmaps/MapManager.cpp
similarity index 100%
rename from maps_server/src/libmaps/MapManager.cpp
rename to src/libmaps/MapManager.cpp
diff --git a/maps_server/src/libmaps/MapManager.hpp b/src/libmaps/MapManager.hpp
similarity index 100%
rename from maps_server/src/libmaps/MapManager.hpp
rename to src/libmaps/MapManager.hpp
diff --git a/maps_server/src/libmaps/ObjectPool.hpp b/src/libmaps/ObjectPool.hpp
similarity index 100%
rename from maps_server/src/libmaps/ObjectPool.hpp
rename to src/libmaps/ObjectPool.hpp
diff --git a/maps_server/src/libmaps/OctreeView.cpp b/src/libmaps/OctreeView.cpp
similarity index 100%
rename from maps_server/src/libmaps/OctreeView.cpp
rename to src/libmaps/OctreeView.cpp
diff --git a/maps_server/src/libmaps/OctreeView.hpp b/src/libmaps/OctreeView.hpp
similarity index 100%
rename from maps_server/src/libmaps/OctreeView.hpp
rename to src/libmaps/OctreeView.hpp
diff --git a/maps_server/src/libmaps/PointCloudView.cpp b/src/libmaps/PointCloudView.cpp
similarity index 100%
rename from maps_server/src/libmaps/PointCloudView.cpp
rename to src/libmaps/PointCloudView.cpp
diff --git a/maps_server/src/libmaps/PointCloudView.hpp b/src/libmaps/PointCloudView.hpp
similarity index 100%
rename from maps_server/src/libmaps/PointCloudView.hpp
rename to src/libmaps/PointCloudView.hpp
diff --git a/maps_server/src/libmaps/PointConvert.hpp b/src/libmaps/PointConvert.hpp
similarity index 100%
rename from maps_server/src/libmaps/PointConvert.hpp
rename to src/libmaps/PointConvert.hpp
diff --git a/maps_server/src/libmaps/PointDataBuffer.cpp b/src/libmaps/PointDataBuffer.cpp
similarity index 100%
rename from maps_server/src/libmaps/PointDataBuffer.cpp
rename to src/libmaps/PointDataBuffer.cpp
diff --git a/maps_server/src/libmaps/PointDataBuffer.hpp b/src/libmaps/PointDataBuffer.hpp
similarity index 100%
rename from maps_server/src/libmaps/PointDataBuffer.hpp
rename to src/libmaps/PointDataBuffer.hpp
diff --git a/maps_server/src/libmaps/PointerUtils.hpp b/src/libmaps/PointerUtils.hpp
similarity index 100%
rename from maps_server/src/libmaps/PointerUtils.hpp
rename to src/libmaps/PointerUtils.hpp
diff --git a/maps_server/src/libmaps/RansacGeneric.hpp b/src/libmaps/RansacGeneric.hpp
similarity index 100%
rename from maps_server/src/libmaps/RansacGeneric.hpp
rename to src/libmaps/RansacGeneric.hpp
diff --git a/maps_server/src/libmaps/ScanBundleView.cpp b/src/libmaps/ScanBundleView.cpp
similarity index 100%
rename from maps_server/src/libmaps/ScanBundleView.cpp
rename to src/libmaps/ScanBundleView.cpp
diff --git a/maps_server/src/libmaps/ScanBundleView.hpp b/src/libmaps/ScanBundleView.hpp
similarity index 100%
rename from maps_server/src/libmaps/ScanBundleView.hpp
rename to src/libmaps/ScanBundleView.hpp
diff --git a/maps_server/src/libmaps/SensorDataReceiver.cpp b/src/libmaps/SensorDataReceiver.cpp
similarity index 100%
rename from maps_server/src/libmaps/SensorDataReceiver.cpp
rename to src/libmaps/SensorDataReceiver.cpp
diff --git a/maps_server/src/libmaps/SensorDataReceiver.hpp b/src/libmaps/SensorDataReceiver.hpp
similarity index 100%
rename from maps_server/src/libmaps/SensorDataReceiver.hpp
rename to src/libmaps/SensorDataReceiver.hpp
diff --git a/maps_server/src/libmaps/Surfelizer.cpp b/src/libmaps/Surfelizer.cpp
similarity index 100%
rename from maps_server/src/libmaps/Surfelizer.cpp
rename to src/libmaps/Surfelizer.cpp
diff --git a/maps_server/src/libmaps/Surfelizer.hpp b/src/libmaps/Surfelizer.hpp
similarity index 100%
rename from maps_server/src/libmaps/Surfelizer.hpp
rename to src/libmaps/Surfelizer.hpp
diff --git a/maps_server/src/libmaps/ThreadSafeQueue.hpp b/src/libmaps/ThreadSafeQueue.hpp
similarity index 100%
rename from maps_server/src/libmaps/ThreadSafeQueue.hpp
rename to src/libmaps/ThreadSafeQueue.hpp
diff --git a/maps_server/src/libmaps/Types.hpp b/src/libmaps/Types.hpp
similarity index 100%
rename from maps_server/src/libmaps/Types.hpp
rename to src/libmaps/Types.hpp
diff --git a/maps_server/src/libmaps/Utils.cpp b/src/libmaps/Utils.cpp
similarity index 100%
rename from maps_server/src/libmaps/Utils.cpp
rename to src/libmaps/Utils.cpp
diff --git a/maps_server/src/libmaps/Utils.hpp b/src/libmaps/Utils.hpp
similarity index 100%
rename from maps_server/src/libmaps/Utils.hpp
rename to src/libmaps/Utils.hpp
diff --git a/maps_server/src/libmaps/ViewBase.cpp b/src/libmaps/ViewBase.cpp
similarity index 100%
rename from maps_server/src/libmaps/ViewBase.cpp
rename to src/libmaps/ViewBase.cpp
diff --git a/maps_server/src/libmaps/ViewBase.hpp b/src/libmaps/ViewBase.hpp
similarity index 100%
rename from maps_server/src/libmaps/ViewBase.hpp
rename to src/libmaps/ViewBase.hpp
diff --git a/maps_server/src/libmaps/VoxelGrid.cpp b/src/libmaps/VoxelGrid.cpp
similarity index 100%
rename from maps_server/src/libmaps/VoxelGrid.cpp
rename to src/libmaps/VoxelGrid.cpp
diff --git a/maps_server/src/libmaps/VoxelGrid.hpp b/src/libmaps/VoxelGrid.hpp
similarity index 100%
rename from maps_server/src/libmaps/VoxelGrid.hpp
rename to src/libmaps/VoxelGrid.hpp
diff --git a/maps_server/src/libmaps/VoxelGridView.cpp b/src/libmaps/VoxelGridView.cpp
similarity index 100%
rename from maps_server/src/libmaps/VoxelGridView.cpp
rename to src/libmaps/VoxelGridView.cpp
diff --git a/maps_server/src/libmaps/VoxelGridView.hpp b/src/libmaps/VoxelGridView.hpp
similarity index 100%
rename from maps_server/src/libmaps/VoxelGridView.hpp
rename to src/libmaps/VoxelGridView.hpp
diff --git a/maps_server/src/maps_lcm/BotWrapper.cpp b/src/maps_lcm/BotWrapper.cpp
similarity index 100%
rename from maps_server/src/maps_lcm/BotWrapper.cpp
rename to src/maps_lcm/BotWrapper.cpp
diff --git a/maps_server/src/maps_lcm/BotWrapper.hpp b/src/maps_lcm/BotWrapper.hpp
similarity index 100%
rename from maps_server/src/maps_lcm/BotWrapper.hpp
rename to src/maps_lcm/BotWrapper.hpp
diff --git a/maps_server/src/maps_lcm/CMakeLists.txt b/src/maps_lcm/CMakeLists.txt
similarity index 100%
rename from maps_server/src/maps_lcm/CMakeLists.txt
rename to src/maps_lcm/CMakeLists.txt
diff --git a/maps_server/src/maps_lcm/Clock.cpp b/src/maps_lcm/Clock.cpp
similarity index 100%
rename from maps_server/src/maps_lcm/Clock.cpp
rename to src/maps_lcm/Clock.cpp
diff --git a/maps_server/src/maps_lcm/Clock.hpp b/src/maps_lcm/Clock.hpp
similarity index 100%
rename from maps_server/src/maps_lcm/Clock.hpp
rename to src/maps_lcm/Clock.hpp
diff --git a/maps_server/src/maps_lcm/LcmSensorDataReceiver.cpp b/src/maps_lcm/LcmSensorDataReceiver.cpp
similarity index 100%
rename from maps_server/src/maps_lcm/LcmSensorDataReceiver.cpp
rename to src/maps_lcm/LcmSensorDataReceiver.cpp
diff --git a/maps_server/src/maps_lcm/LcmSensorDataReceiver.hpp b/src/maps_lcm/LcmSensorDataReceiver.hpp
similarity index 100%
rename from maps_server/src/maps_lcm/LcmSensorDataReceiver.hpp
rename to src/maps_lcm/LcmSensorDataReceiver.hpp
diff --git a/maps_server/src/maps_lcm/LcmTranslator.cpp b/src/maps_lcm/LcmTranslator.cpp
similarity index 100%
rename from maps_server/src/maps_lcm/LcmTranslator.cpp
rename to src/maps_lcm/LcmTranslator.cpp
diff --git a/maps_server/src/maps_lcm/LcmTranslator.hpp b/src/maps_lcm/LcmTranslator.hpp
similarity index 100%
rename from maps_server/src/maps_lcm/LcmTranslator.hpp
rename to src/maps_lcm/LcmTranslator.hpp
diff --git a/maps_server/src/maps_lcm/LcmWrapper.cpp b/src/maps_lcm/LcmWrapper.cpp
similarity index 100%
rename from maps_server/src/maps_lcm/LcmWrapper.cpp
rename to src/maps_lcm/LcmWrapper.cpp
diff --git a/maps_server/src/maps_lcm/LcmWrapper.hpp b/src/maps_lcm/LcmWrapper.hpp
similarity index 100%
rename from maps_server/src/maps_lcm/LcmWrapper.hpp
rename to src/maps_lcm/LcmWrapper.hpp
diff --git a/maps_server/src/maps_lcm/ViewClient.cpp b/src/maps_lcm/ViewClient.cpp
similarity index 100%
rename from maps_server/src/maps_lcm/ViewClient.cpp
rename to src/maps_lcm/ViewClient.cpp
diff --git a/maps_server/src/maps_lcm/ViewClient.hpp b/src/maps_lcm/ViewClient.hpp
similarity index 100%
rename from maps_server/src/maps_lcm/ViewClient.hpp
rename to src/maps_lcm/ViewClient.hpp
diff --git a/maps_server/src/plane-seg/BlockFitter.cpp b/src/plane-seg/BlockFitter.cpp
similarity index 100%
rename from maps_server/src/plane-seg/BlockFitter.cpp
rename to src/plane-seg/BlockFitter.cpp
diff --git a/maps_server/src/plane-seg/BlockFitter.hpp b/src/plane-seg/BlockFitter.hpp
similarity index 100%
rename from maps_server/src/plane-seg/BlockFitter.hpp
rename to src/plane-seg/BlockFitter.hpp
diff --git a/maps_server/src/plane-seg/CMakeLists.txt b/src/plane-seg/CMakeLists.txt
similarity index 100%
rename from maps_server/src/plane-seg/CMakeLists.txt
rename to src/plane-seg/CMakeLists.txt
diff --git a/maps_server/src/plane-seg/IncrementalPlaneEstimator.cpp b/src/plane-seg/IncrementalPlaneEstimator.cpp
similarity index 100%
rename from maps_server/src/plane-seg/IncrementalPlaneEstimator.cpp
rename to src/plane-seg/IncrementalPlaneEstimator.cpp
diff --git a/maps_server/src/plane-seg/IncrementalPlaneEstimator.hpp b/src/plane-seg/IncrementalPlaneEstimator.hpp
similarity index 100%
rename from maps_server/src/plane-seg/IncrementalPlaneEstimator.hpp
rename to src/plane-seg/IncrementalPlaneEstimator.hpp
diff --git a/maps_server/src/plane-seg/PlaneFitter.cpp b/src/plane-seg/PlaneFitter.cpp
similarity index 100%
rename from maps_server/src/plane-seg/PlaneFitter.cpp
rename to src/plane-seg/PlaneFitter.cpp
diff --git a/maps_server/src/plane-seg/PlaneFitter.hpp b/src/plane-seg/PlaneFitter.hpp
similarity index 100%
rename from maps_server/src/plane-seg/PlaneFitter.hpp
rename to src/plane-seg/PlaneFitter.hpp
diff --git a/maps_server/src/plane-seg/PlaneSegmenter.cpp b/src/plane-seg/PlaneSegmenter.cpp
similarity index 100%
rename from maps_server/src/plane-seg/PlaneSegmenter.cpp
rename to src/plane-seg/PlaneSegmenter.cpp
diff --git a/maps_server/src/plane-seg/PlaneSegmenter.hpp b/src/plane-seg/PlaneSegmenter.hpp
similarity index 100%
rename from maps_server/src/plane-seg/PlaneSegmenter.hpp
rename to src/plane-seg/PlaneSegmenter.hpp
diff --git a/maps_server/src/plane-seg/RectangleFitter.cpp b/src/plane-seg/RectangleFitter.cpp
similarity index 100%
rename from maps_server/src/plane-seg/RectangleFitter.cpp
rename to src/plane-seg/RectangleFitter.cpp
diff --git a/maps_server/src/plane-seg/RectangleFitter.hpp b/src/plane-seg/RectangleFitter.hpp
similarity index 100%
rename from maps_server/src/plane-seg/RectangleFitter.hpp
rename to src/plane-seg/RectangleFitter.hpp
diff --git a/maps_server/src/plane-seg/RobustNormalEstimator.cpp b/src/plane-seg/RobustNormalEstimator.cpp
similarity index 100%
rename from maps_server/src/plane-seg/RobustNormalEstimator.cpp
rename to src/plane-seg/RobustNormalEstimator.cpp
diff --git a/maps_server/src/plane-seg/RobustNormalEstimator.hpp b/src/plane-seg/RobustNormalEstimator.hpp
similarity index 100%
rename from maps_server/src/plane-seg/RobustNormalEstimator.hpp
rename to src/plane-seg/RobustNormalEstimator.hpp
diff --git a/maps_server/src/plane-seg/Types.hpp b/src/plane-seg/Types.hpp
similarity index 100%
rename from maps_server/src/plane-seg/Types.hpp
rename to src/plane-seg/Types.hpp
diff --git a/maps_server/src/plane-seg/block-fitter.cpp b/src/plane-seg/block-fitter.cpp
similarity index 100%
rename from maps_server/src/plane-seg/block-fitter.cpp
rename to src/plane-seg/block-fitter.cpp
diff --git a/maps_server/src/plane-seg/find_sensor_position.m b/src/plane-seg/find_sensor_position.m
similarity index 100%
rename from maps_server/src/plane-seg/find_sensor_position.m
rename to src/plane-seg/find_sensor_position.m
diff --git a/maps_server/src/plane-seg/plane-seg-20150414.cpp b/src/plane-seg/plane-seg-20150414.cpp
similarity index 100%
rename from maps_server/src/plane-seg/plane-seg-20150414.cpp
rename to src/plane-seg/plane-seg-20150414.cpp
diff --git a/maps_server/src/plane-seg/plane-seg-20150422.cpp b/src/plane-seg/plane-seg-20150422.cpp
similarity index 100%
rename from maps_server/src/plane-seg/plane-seg-20150422.cpp
rename to src/plane-seg/plane-seg-20150422.cpp
diff --git a/maps_server/src/plane-seg/plane-seg-20150423.cpp b/src/plane-seg/plane-seg-20150423.cpp
similarity index 100%
rename from maps_server/src/plane-seg/plane-seg-20150423.cpp
rename to src/plane-seg/plane-seg-20150423.cpp
diff --git a/maps_server/src/plane-seg/plane-seg-test.cpp b/src/plane-seg/plane-seg-test.cpp
similarity index 100%
rename from maps_server/src/plane-seg/plane-seg-test.cpp
rename to src/plane-seg/plane-seg-test.cpp
diff --git a/maps_server/src/plane-seg/plane-seg-test2.cpp b/src/plane-seg/plane-seg-test2.cpp
similarity index 100%
rename from maps_server/src/plane-seg/plane-seg-test2.cpp
rename to src/plane-seg/plane-seg-test2.cpp
diff --git a/maps_server/src/plane-seg/test_plane_seg_01.m b/src/plane-seg/test_plane_seg_01.m
similarity index 100%
rename from maps_server/src/plane-seg/test_plane_seg_01.m
rename to src/plane-seg/test_plane_seg_01.m
diff --git a/maps_server/src/renderers/CMakeLists.txt b/src/renderers/CMakeLists.txt
similarity index 100%
rename from maps_server/src/renderers/CMakeLists.txt
rename to src/renderers/CMakeLists.txt
diff --git a/maps_server/src/renderers/gtkmm-renderer/CMakeLists.txt b/src/renderers/gtkmm-renderer/CMakeLists.txt
similarity index 100%
rename from maps_server/src/renderers/gtkmm-renderer/CMakeLists.txt
rename to src/renderers/gtkmm-renderer/CMakeLists.txt
diff --git a/maps_server/src/renderers/gtkmm-renderer/RendererBase.cpp b/src/renderers/gtkmm-renderer/RendererBase.cpp
similarity index 100%
rename from maps_server/src/renderers/gtkmm-renderer/RendererBase.cpp
rename to src/renderers/gtkmm-renderer/RendererBase.cpp
diff --git a/maps_server/src/renderers/gtkmm-renderer/RendererBase.hpp b/src/renderers/gtkmm-renderer/RendererBase.hpp
similarity index 100%
rename from maps_server/src/renderers/gtkmm-renderer/RendererBase.hpp
rename to src/renderers/gtkmm-renderer/RendererBase.hpp
diff --git a/maps_server/src/renderers/maps-renderer/CMakeLists.txt b/src/renderers/maps-renderer/CMakeLists.txt
similarity index 100%
rename from maps_server/src/renderers/maps-renderer/CMakeLists.txt
rename to src/renderers/maps-renderer/CMakeLists.txt
diff --git a/maps_server/src/renderers/maps-renderer/InteractiveBox.cpp b/src/renderers/maps-renderer/InteractiveBox.cpp
similarity index 100%
rename from maps_server/src/renderers/maps-renderer/InteractiveBox.cpp
rename to src/renderers/maps-renderer/InteractiveBox.cpp
diff --git a/maps_server/src/renderers/maps-renderer/InteractiveBox.hpp b/src/renderers/maps-renderer/InteractiveBox.hpp
similarity index 100%
rename from maps_server/src/renderers/maps-renderer/InteractiveBox.hpp
rename to src/renderers/maps-renderer/InteractiveBox.hpp
diff --git a/maps_server/src/renderers/maps-renderer/MapsRenderer.cpp b/src/renderers/maps-renderer/MapsRenderer.cpp
similarity index 100%
rename from maps_server/src/renderers/maps-renderer/MapsRenderer.cpp
rename to src/renderers/maps-renderer/MapsRenderer.cpp
diff --git a/maps_server/src/renderers/maps-renderer/MapsRenderer.hpp b/src/renderers/maps-renderer/MapsRenderer.hpp
similarity index 100%
rename from maps_server/src/renderers/maps-renderer/MapsRenderer.hpp
rename to src/renderers/maps-renderer/MapsRenderer.hpp
diff --git a/maps_server/src/renderers/maps-renderer/MeshRenderer.cpp b/src/renderers/maps-renderer/MeshRenderer.cpp
similarity index 100%
rename from maps_server/src/renderers/maps-renderer/MeshRenderer.cpp
rename to src/renderers/maps-renderer/MeshRenderer.cpp
diff --git a/maps_server/src/renderers/maps-renderer/MeshRenderer.hpp b/src/renderers/maps-renderer/MeshRenderer.hpp
similarity index 100%
rename from maps_server/src/renderers/maps-renderer/MeshRenderer.hpp
rename to src/renderers/maps-renderer/MeshRenderer.hpp
diff --git a/maps_server/src/renderers/maps-renderer/ViewMetaData.cpp b/src/renderers/maps-renderer/ViewMetaData.cpp
similarity index 100%
rename from maps_server/src/renderers/maps-renderer/ViewMetaData.cpp
rename to src/renderers/maps-renderer/ViewMetaData.cpp
diff --git a/maps_server/src/renderers/maps-renderer/ViewMetaData.hpp b/src/renderers/maps-renderer/ViewMetaData.hpp
similarity index 100%
rename from maps_server/src/renderers/maps-renderer/ViewMetaData.hpp
rename to src/renderers/maps-renderer/ViewMetaData.hpp
diff --git a/maps_server/src/renderers/maps-renderer/maps_renderer.hpp b/src/renderers/maps-renderer/maps_renderer.hpp
similarity index 100%
rename from maps_server/src/renderers/maps-renderer/maps_renderer.hpp
rename to src/renderers/maps-renderer/maps_renderer.hpp
diff --git a/maps_server/src/renderers/maps-viewer/CMakeLists.txt b/src/renderers/maps-viewer/CMakeLists.txt
similarity index 100%
rename from maps_server/src/renderers/maps-viewer/CMakeLists.txt
rename to src/renderers/maps-viewer/CMakeLists.txt
diff --git a/maps_server/src/renderers/maps-viewer/maps_viewer.cpp b/src/renderers/maps-viewer/maps_viewer.cpp
similarity index 100%
rename from maps_server/src/renderers/maps-viewer/maps_viewer.cpp
rename to src/renderers/maps-viewer/maps_viewer.cpp
diff --git a/maps_server/src/server/CMakeLists.txt b/src/server/CMakeLists.txt
similarity index 100%
rename from maps_server/src/server/CMakeLists.txt
rename to src/server/CMakeLists.txt
diff --git a/maps_server/src/server/FusedDepthHandler.cpp b/src/server/FusedDepthHandler.cpp
similarity index 100%
rename from maps_server/src/server/FusedDepthHandler.cpp
rename to src/server/FusedDepthHandler.cpp
diff --git a/maps_server/src/server/FusedDepthHandler.hpp b/src/server/FusedDepthHandler.hpp
similarity index 100%
rename from maps_server/src/server/FusedDepthHandler.hpp
rename to src/server/FusedDepthHandler.hpp
diff --git a/maps_server/src/server/LidarFilters.cpp b/src/server/LidarFilters.cpp
similarity index 100%
rename from maps_server/src/server/LidarFilters.cpp
rename to src/server/LidarFilters.cpp
diff --git a/maps_server/src/server/LidarFilters.hpp b/src/server/LidarFilters.hpp
similarity index 100%
rename from maps_server/src/server/LidarFilters.hpp
rename to src/server/LidarFilters.hpp
diff --git a/maps_server/src/server/ServerMain.cpp b/src/server/ServerMain.cpp
similarity index 100%
rename from maps_server/src/server/ServerMain.cpp
rename to src/server/ServerMain.cpp
diff --git a/maps_server/src/server/StereoHandler.cpp b/src/server/StereoHandler.cpp
similarity index 100%
rename from maps_server/src/server/StereoHandler.cpp
rename to src/server/StereoHandler.cpp
diff --git a/maps_server/src/server/StereoHandler.hpp b/src/server/StereoHandler.hpp
similarity index 100%
rename from maps_server/src/server/StereoHandler.hpp
rename to src/server/StereoHandler.hpp
diff --git a/maps_server/src/terrain-map/CMakeLists.txt b/src/terrain-map/CMakeLists.txt
similarity index 100%
rename from maps_server/src/terrain-map/CMakeLists.txt
rename to src/terrain-map/CMakeLists.txt
diff --git a/maps_server/src/terrain-map/FillMethods.cpp b/src/terrain-map/FillMethods.cpp
similarity index 100%
rename from maps_server/src/terrain-map/FillMethods.cpp
rename to src/terrain-map/FillMethods.cpp
diff --git a/maps_server/src/terrain-map/FillMethods.hpp b/src/terrain-map/FillMethods.hpp
similarity index 100%
rename from maps_server/src/terrain-map/FillMethods.hpp
rename to src/terrain-map/FillMethods.hpp
diff --git a/maps_server/src/terrain-map/TerrainMap.cpp b/src/terrain-map/TerrainMap.cpp
similarity index 100%
rename from maps_server/src/terrain-map/TerrainMap.cpp
rename to src/terrain-map/TerrainMap.cpp
diff --git a/maps_server/src/terrain-map/TerrainMap.hpp b/src/terrain-map/TerrainMap.hpp
similarity index 100%
rename from maps_server/src/terrain-map/TerrainMap.hpp
rename to src/terrain-map/TerrainMap.hpp
diff --git a/maps_server/src/terrain-map/TestMain.cpp b/src/terrain-map/TestMain.cpp
similarity index 100%
rename from maps_server/src/terrain-map/TestMain.cpp
rename to src/terrain-map/TestMain.cpp
diff --git a/maps_server/src/utils/CMakeLists.txt b/src/utils/CMakeLists.txt
similarity index 100%
rename from maps_server/src/utils/CMakeLists.txt
rename to src/utils/CMakeLists.txt
diff --git a/maps_server/src/utils/README.txt b/src/utils/README.txt
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rename from maps_server/src/utils/README.txt
rename to src/utils/README.txt
diff --git a/maps_server/src/utils/gradmap.txt b/src/utils/gradmap.txt
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rename from maps_server/src/utils/gradmap.txt
rename to src/utils/gradmap.txt
diff --git a/maps_server/src/utils/gradmap_send.cpp b/src/utils/gradmap_send.cpp
similarity index 100%
rename from maps_server/src/utils/gradmap_send.cpp
rename to src/utils/gradmap_send.cpp
diff --git a/maps_server/src/utils/gradmap_sharper.txt b/src/utils/gradmap_sharper.txt
similarity index 100%
rename from maps_server/src/utils/gradmap_sharper.txt
rename to src/utils/gradmap_sharper.txt
diff --git a/maps_server/src/utils/heightmap.txt b/src/utils/heightmap.txt
similarity index 100%
rename from maps_server/src/utils/heightmap.txt
rename to src/utils/heightmap.txt
diff --git a/maps_server/src/utils/heightmap2gradient.m b/src/utils/heightmap2gradient.m
similarity index 100%
rename from maps_server/src/utils/heightmap2gradient.m
rename to src/utils/heightmap2gradient.m
diff --git a/maps_server/src/utils/write_octomap.cpp b/src/utils/write_octomap.cpp
similarity index 100%
rename from maps_server/src/utils/write_octomap.cpp
rename to src/utils/write_octomap.cpp
diff --git a/tobuild.txt b/tobuild.txt
deleted file mode 100644
index efb9f15..0000000
--- a/tobuild.txt
+++ /dev/null
@@ -1,5 +0,0 @@
-# list of subdirectories to build, one one each line.  Empty lines
-# and lines starting with '#' are ignored
-#maps_lcmtypes
-maps_server
-plane-seg