From da75b9d9dad54876214e1e4113a362ebaea81918 Mon Sep 17 00:00:00 2001
From: agus-darmawan <darmawandeveloper@gmail.com>
Date: Sun, 18 Oct 2026 13:26:23 +0700
Subject: [PATCH] refactor!: rename the robot_* packages to pashupati_*

---
 .github/pull_request_template.md              |  2 +-
 .github/workflows/ci.yml                      |  6 +++---
 CONTRIBUTING.md                               |  2 +-
 README.md                                     | 20 +++++++++----------
 docs/README.md                                |  4 ++--
 docs/pdf/build.py                             |  8 ++++----
 docs/tuning/tuning-guide.md                   |  2 +-
 script/env.sh                                 |  2 +-
 script/start_tmux.sh                          | 10 +++++-----
 src/pashupati/launch/robot.launch.py          | 18 ++++++++---------
 src/pashupati/package.xml                     |  8 ++++----
 src/pashupati/test/test_bringup.py            |  2 +-
 src/pashupati/test/test_video.py              |  4 ++--
 .../PROTOCOL.md                               |  0
 .../README.md                                 |  6 +++---
 .../config/bridge_params.yaml                 |  0
 .../launch/bridge.launch.py                   |  4 ++--
 .../package.xml                               |  2 +-
 .../pashupati_bridge}/__init__.py             |  0
 .../pashupati_bridge}/protocol.py             |  0
 .../pashupati_bridge}/teleop_udp_node.py      |  2 +-
 .../pashupati_bridge}/video_stream_node.py    |  0
 .../resource/pashupati_bridge}                |  0
 src/pashupati_bridge/setup.cfg                |  4 ++++
 .../setup.py                                  |  6 +++---
 .../test/test_copyright.py                    |  0
 .../test/test_flake8.py                       |  0
 .../test/test_node_members.py                 |  0
 .../test/test_pep257.py                       |  0
 .../test/test_protocol.py                     |  6 +++---
 .../test/test_teleop_node.py                  |  6 +++---
 .../test/test_video_stream_node.py            |  2 +-
 src/{robot_fleet => pashupati_fleet}/API.md   |  0
 .../README.md                                 |  6 +++---
 .../config/fleet_params.yaml                  |  0
 .../launch/fleet.launch.py                    |  4 ++--
 .../package.xml                               |  2 +-
 .../pashupati_fleet}/__init__.py              |  0
 .../pashupati_fleet}/anomaly.py               |  0
 .../pashupati_fleet}/crowd.py                 |  0
 .../pashupati_fleet}/fleet_uplink_node.py     | 10 +++++-----
 .../pashupati_fleet}/routes.py                |  0
 .../pashupati_fleet}/spool.py                 |  0
 .../pashupati_fleet}/switches.py              |  0
 .../resource/pashupati_fleet}                 |  0
 src/pashupati_fleet/setup.cfg                 |  4 ++++
 src/{robot_fleet => pashupati_fleet}/setup.py |  6 ++++--
 .../test/test_copyright.py                    |  0
 .../test/test_flake8.py                       |  0
 .../test/test_fleet_units.py                  | 14 ++++++-------
 .../test/test_node_members.py                 |  0
 .../test/test_pep257.py                       |  0
 .../README.md                                 |  4 ++--
 .../config/health_params.yaml                 |  0
 .../launch/health.launch.py                   |  4 ++--
 .../package.xml                               |  2 +-
 .../pashupati_health}/__init__.py             |  0
 .../pashupati_health}/checks.py               |  0
 .../pashupati_health}/health_monitor_node.py  | 10 +++++-----
 .../resource/pashupati_health}                |  0
 src/pashupati_health/setup.cfg                |  4 ++++
 .../setup.py                                  |  4 ++--
 .../test/test_checks.py                       |  2 +-
 .../test/test_copyright.py                    |  0
 .../test/test_flake8.py                       |  0
 .../test/test_node_members.py                 |  0
 .../test/test_pep257.py                       |  0
 .../README.md                                 |  8 ++++----
 .../config/inspection_params.yaml             |  0
 .../launch/inspection.launch.py               |  4 ++--
 .../package.xml                               |  2 +-
 .../pashupati_inspection}/__init__.py         |  0
 .../anomaly_detector_node.py                  | 18 ++++++++---------
 .../pashupati_inspection}/frame_queue.py      |  0
 .../pashupati_inspection}/vlm.py              |  0
 .../resource/pashupati_inspection}            |  0
 src/pashupati_inspection/setup.cfg            |  4 ++++
 .../setup.py                                  |  4 ++--
 .../test/test_copyright.py                    |  0
 .../test/test_detector_node.py                |  2 +-
 .../test/test_flake8.py                       |  0
 .../test/test_frame_queue.py                  |  2 +-
 .../test/test_node_members.py                 |  0
 .../test/test_pep257.py                       |  0
 .../test/test_vlm.py                          |  4 ++--
 .../CMakeLists.txt                            | 14 ++++++-------
 src/{robot_rviz => pashupati_rviz}/README.md  |  2 +-
 .../pashupati_rviz}/cmd_vel_widget.hpp        |  4 ++--
 .../include/pashupati_rviz}/control_panel.hpp |  6 +++---
 .../include/pashupati_rviz}/ros_panel.hpp     |  4 ++--
 .../include/pashupati_rviz}/status_panel.hpp  |  8 ++++----
 .../include/pashupati_rviz}/tag_panel.hpp     |  6 +++---
 .../include/pashupati_rviz}/tuning_panel.hpp  |  6 +++---
 .../package.xml                               |  2 +-
 .../plugin_description.xml                    | 18 ++++++++---------
 .../rviz/robot.rviz                           | 16 +++++++--------
 .../src/cmd_vel_widget.cpp                    |  4 ++--
 .../src/control_panel.cpp                     |  8 ++++----
 .../src/ros_panel.cpp                         |  6 +++---
 .../src/status_panel.cpp                      |  8 ++++----
 .../src/tag_panel.cpp                         |  8 ++++----
 .../src/tuning_panel.cpp                      |  8 ++++----
 src/{robot_sim => pashupati_sim}/README.md    |  6 +++---
 .../config/routes/mall_loop.csv               |  0
 .../config/sim_site.yaml                      |  4 ++--
 .../config/worlds/mall_loop.yaml              |  0
 .../launch/sim.launch.py                      | 14 ++++++-------
 src/{robot_sim => pashupati_sim}/package.xml  |  2 +-
 .../pashupati_sim}/__init__.py                |  0
 .../pashupati_sim}/sim_robot_node.py          |  2 +-
 .../pashupati_sim}/world.py                   |  0
 .../resource/pashupati_sim}                   |  0
 src/pashupati_sim/setup.cfg                   |  4 ++++
 src/{robot_sim => pashupati_sim}/setup.py     |  4 ++--
 .../test/test_copyright.py                    |  0
 .../test/test_flake8.py                       |  0
 .../test/test_node_members.py                 |  0
 .../test/test_pep257.py                       |  0
 .../test/test_sim_patrol.py                   | 12 +++++------
 .../test/test_world.py                        |  2 +-
 src/robot_bridge/setup.cfg                    |  4 ----
 src/robot_fleet/setup.cfg                     |  4 ----
 src/robot_health/setup.cfg                    |  4 ----
 src/robot_inspection/setup.cfg                |  4 ----
 src/robot_sim/setup.cfg                       |  4 ----
 125 files changed, 225 insertions(+), 223 deletions(-)
 rename src/{robot_bridge => pashupati_bridge}/PROTOCOL.md (100%)
 rename src/{robot_bridge => pashupati_bridge}/README.md (96%)
 rename src/{robot_bridge => pashupati_bridge}/config/bridge_params.yaml (100%)
 rename src/{robot_bridge => pashupati_bridge}/launch/bridge.launch.py (93%)
 rename src/{robot_bridge => pashupati_bridge}/package.xml (98%)
 rename src/{robot_bridge/robot_bridge => pashupati_bridge/pashupati_bridge}/__init__.py (100%)
 rename src/{robot_bridge/robot_bridge => pashupati_bridge/pashupati_bridge}/protocol.py (100%)
 rename src/{robot_bridge/robot_bridge => pashupati_bridge/pashupati_bridge}/teleop_udp_node.py (99%)
 rename src/{robot_bridge/robot_bridge => pashupati_bridge/pashupati_bridge}/video_stream_node.py (100%)
 rename src/{robot_bridge/resource/robot_bridge => pashupati_bridge/resource/pashupati_bridge} (100%)
 create mode 100644 src/pashupati_bridge/setup.cfg
 rename src/{robot_bridge => pashupati_bridge}/setup.py (83%)
 rename src/{robot_bridge => pashupati_bridge}/test/test_copyright.py (100%)
 rename src/{robot_bridge => pashupati_bridge}/test/test_flake8.py (100%)
 rename src/{robot_bridge => pashupati_bridge}/test/test_node_members.py (100%)
 rename src/{robot_bridge => pashupati_bridge}/test/test_pep257.py (100%)
 rename src/{robot_bridge => pashupati_bridge}/test/test_protocol.py (95%)
 rename src/{robot_bridge => pashupati_bridge}/test/test_teleop_node.py (98%)
 rename src/{robot_bridge => pashupati_bridge}/test/test_video_stream_node.py (97%)
 rename src/{robot_fleet => pashupati_fleet}/API.md (100%)
 rename src/{robot_fleet => pashupati_fleet}/README.md (89%)
 rename src/{robot_fleet => pashupati_fleet}/config/fleet_params.yaml (100%)
 rename src/{robot_fleet => pashupati_fleet}/launch/fleet.launch.py (93%)
 rename src/{robot_fleet => pashupati_fleet}/package.xml (97%)
 rename src/{robot_fleet/robot_fleet => pashupati_fleet/pashupati_fleet}/__init__.py (100%)
 rename src/{robot_fleet/robot_fleet => pashupati_fleet/pashupati_fleet}/anomaly.py (100%)
 rename src/{robot_fleet/robot_fleet => pashupati_fleet/pashupati_fleet}/crowd.py (100%)
 rename src/{robot_fleet/robot_fleet => pashupati_fleet/pashupati_fleet}/fleet_uplink_node.py (99%)
 rename src/{robot_fleet/robot_fleet => pashupati_fleet/pashupati_fleet}/routes.py (100%)
 rename src/{robot_fleet/robot_fleet => pashupati_fleet/pashupati_fleet}/spool.py (100%)
 rename src/{robot_fleet/robot_fleet => pashupati_fleet/pashupati_fleet}/switches.py (100%)
 rename src/{robot_fleet/resource/robot_fleet => pashupati_fleet/resource/pashupati_fleet} (100%)
 create mode 100644 src/pashupati_fleet/setup.cfg
 rename src/{robot_fleet => pashupati_fleet}/setup.py (83%)
 rename src/{robot_fleet => pashupati_fleet}/test/test_copyright.py (100%)
 rename src/{robot_fleet => pashupati_fleet}/test/test_flake8.py (100%)
 rename src/{robot_fleet => pashupati_fleet}/test/test_fleet_units.py (90%)
 rename src/{robot_fleet => pashupati_fleet}/test/test_node_members.py (100%)
 rename src/{robot_fleet => pashupati_fleet}/test/test_pep257.py (100%)
 rename src/{robot_health => pashupati_health}/README.md (95%)
 rename src/{robot_health => pashupati_health}/config/health_params.yaml (100%)
 rename src/{robot_health => pashupati_health}/launch/health.launch.py (88%)
 rename src/{robot_health => pashupati_health}/package.xml (96%)
 rename src/{robot_health/robot_health => pashupati_health/pashupati_health}/__init__.py (100%)
 rename src/{robot_health/robot_health => pashupati_health/pashupati_health}/checks.py (100%)
 rename src/{robot_health/robot_health => pashupati_health/pashupati_health}/health_monitor_node.py (99%)
 rename src/{robot_health/resource/robot_health => pashupati_health/resource/pashupati_health} (100%)
 create mode 100644 src/pashupati_health/setup.cfg
 rename src/{robot_health => pashupati_health}/setup.py (88%)
 rename src/{robot_health => pashupati_health}/test/test_checks.py (98%)
 rename src/{robot_health => pashupati_health}/test/test_copyright.py (100%)
 rename src/{robot_health => pashupati_health}/test/test_flake8.py (100%)
 rename src/{robot_health => pashupati_health}/test/test_node_members.py (100%)
 rename src/{robot_health => pashupati_health}/test/test_pep257.py (100%)
 rename src/{robot_inspection => pashupati_inspection}/README.md (95%)
 rename src/{robot_inspection => pashupati_inspection}/config/inspection_params.yaml (100%)
 rename src/{robot_inspection => pashupati_inspection}/launch/inspection.launch.py (87%)
 rename src/{robot_inspection => pashupati_inspection}/package.xml (96%)
 rename src/{robot_inspection/robot_inspection => pashupati_inspection/pashupati_inspection}/__init__.py (100%)
 rename src/{robot_inspection/robot_inspection => pashupati_inspection/pashupati_inspection}/anomaly_detector_node.py (99%)
 rename src/{robot_inspection/robot_inspection => pashupati_inspection/pashupati_inspection}/frame_queue.py (100%)
 rename src/{robot_inspection/robot_inspection => pashupati_inspection/pashupati_inspection}/vlm.py (100%)
 rename src/{robot_inspection/resource/robot_inspection => pashupati_inspection/resource/pashupati_inspection} (100%)
 create mode 100644 src/pashupati_inspection/setup.cfg
 rename src/{robot_inspection => pashupati_inspection}/setup.py (87%)
 rename src/{robot_inspection => pashupati_inspection}/test/test_copyright.py (100%)
 rename src/{robot_inspection => pashupati_inspection}/test/test_detector_node.py (99%)
 rename src/{robot_inspection => pashupati_inspection}/test/test_flake8.py (100%)
 rename src/{robot_inspection => pashupati_inspection}/test/test_frame_queue.py (97%)
 rename src/{robot_inspection => pashupati_inspection}/test/test_node_members.py (100%)
 rename src/{robot_inspection => pashupati_inspection}/test/test_pep257.py (100%)
 rename src/{robot_inspection => pashupati_inspection}/test/test_vlm.py (99%)
 rename src/{robot_rviz => pashupati_rviz}/CMakeLists.txt (86%)
 rename src/{robot_rviz => pashupati_rviz}/README.md (97%)
 rename src/{robot_rviz/include/robot_rviz => pashupati_rviz/include/pashupati_rviz}/cmd_vel_widget.hpp (93%)
 rename src/{robot_rviz/include/robot_rviz => pashupati_rviz/include/pashupati_rviz}/control_panel.hpp (96%)
 rename src/{robot_rviz/include/robot_rviz => pashupati_rviz/include/pashupati_rviz}/ros_panel.hpp (95%)
 rename src/{robot_rviz/include/robot_rviz => pashupati_rviz/include/pashupati_rviz}/status_panel.hpp (90%)
 rename src/{robot_rviz/include/robot_rviz => pashupati_rviz/include/pashupati_rviz}/tag_panel.hpp (91%)
 rename src/{robot_rviz/include/robot_rviz => pashupati_rviz/include/pashupati_rviz}/tuning_panel.hpp (94%)
 rename src/{robot_rviz => pashupati_rviz}/package.xml (96%)
 rename src/{robot_rviz => pashupati_rviz}/plugin_description.xml (64%)
 rename src/{robot_rviz => pashupati_rviz}/rviz/robot.rviz (96%)
 rename src/{robot_rviz => pashupati_rviz}/src/cmd_vel_widget.cpp (96%)
 rename src/{robot_rviz => pashupati_rviz}/src/control_panel.cpp (98%)
 rename src/{robot_rviz => pashupati_rviz}/src/ros_panel.cpp (93%)
 rename src/{robot_rviz => pashupati_rviz}/src/status_panel.cpp (96%)
 rename src/{robot_rviz => pashupati_rviz}/src/tag_panel.cpp (94%)
 rename src/{robot_rviz => pashupati_rviz}/src/tuning_panel.cpp (98%)
 rename src/{robot_sim => pashupati_sim}/README.md (96%)
 rename src/{robot_sim => pashupati_sim}/config/routes/mall_loop.csv (100%)
 rename src/{robot_sim => pashupati_sim}/config/sim_site.yaml (90%)
 rename src/{robot_sim => pashupati_sim}/config/worlds/mall_loop.yaml (100%)
 rename src/{robot_sim => pashupati_sim}/launch/sim.launch.py (88%)
 rename src/{robot_sim => pashupati_sim}/package.xml (97%)
 rename src/{robot_sim/robot_sim => pashupati_sim/pashupati_sim}/__init__.py (100%)
 rename src/{robot_sim/robot_sim => pashupati_sim/pashupati_sim}/sim_robot_node.py (99%)
 rename src/{robot_sim/robot_sim => pashupati_sim/pashupati_sim}/world.py (100%)
 rename src/{robot_sim/resource/robot_sim => pashupati_sim/resource/pashupati_sim} (100%)
 create mode 100644 src/pashupati_sim/setup.cfg
 rename src/{robot_sim => pashupati_sim}/setup.py (91%)
 rename src/{robot_sim => pashupati_sim}/test/test_copyright.py (100%)
 rename src/{robot_sim => pashupati_sim}/test/test_flake8.py (100%)
 rename src/{robot_sim => pashupati_sim}/test/test_node_members.py (100%)
 rename src/{robot_sim => pashupati_sim}/test/test_pep257.py (100%)
 rename src/{robot_sim => pashupati_sim}/test/test_sim_patrol.py (94%)
 rename src/{robot_sim => pashupati_sim}/test/test_world.py (97%)
 delete mode 100644 src/robot_bridge/setup.cfg
 delete mode 100644 src/robot_fleet/setup.cfg
 delete mode 100644 src/robot_health/setup.cfg
 delete mode 100644 src/robot_inspection/setup.cfg
 delete mode 100644 src/robot_sim/setup.cfg

diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md
index c42fec5..93e1f13 100644
--- a/.github/pull_request_template.md
+++ b/.github/pull_request_template.md
@@ -5,7 +5,7 @@
 ## How it was tested
 
 - [ ] `colcon test` passes (CI green, simulator end-to-end test included)
-- [ ] Tried in the simulator (`ros2 launch robot_sim sim.launch.py`), on the robot or in the dev
+- [ ] Tried in the simulator (`ros2 launch pashupati_sim sim.launch.py`), on the robot or in the dev
       container: <!-- what you ran and saw -->
 
 ## Checklist
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
index 47b8cb2..7c280b7 100644
--- a/.github/workflows/ci.yml
+++ b/.github/workflows/ci.yml
@@ -16,8 +16,8 @@ env:
   ROSDEP_SKIP: >-
     livox_ros_driver2 fast_lio legkilo apriltag_draw
   PACKAGES: >-
-    pashupati_perception robot_bridge robot_fleet robot_inspection robot_health robot_rviz
-    pashupati robot_sim
+    pashupati_perception pashupati_bridge pashupati_fleet pashupati_inspection pashupati_health pashupati_rviz
+    pashupati pashupati_sim
 
 jobs:
   scripts:
@@ -128,7 +128,7 @@ jobs:
           source install/setup.bash
           ros2 launch pashupati robot.launch.py --show-args > /dev/null
           ros2 launch dharma_odometry odometry.launch.py --show-args > /dev/null
-          ros2 launch robot_sim sim.launch.py --show-args > /dev/null
+          ros2 launch pashupati_sim sim.launch.py --show-args > /dev/null
       - name: Test reports
         if: always()
         uses: actions/upload-artifact@v4
diff --git a/CONTRIBUTING.md b/CONTRIBUTING.md
index 227b299..7280bd8 100644
--- a/CONTRIBUTING.md
+++ b/CONTRIBUTING.md
@@ -68,6 +68,6 @@ pure-logic tests also run with plain `pytest` on a laptop.
 Anything that changes how the robot moves (speeds, limits, e-stop, avoidance, the control mux, the
 teleop gateway) needs a test that drives the logic, a note in the PR on how it was tried on the robot
 (slow speed, open area, someone at the e-stop), and a CHANGELOG entry. Try it in the simulator
-first (`ros2 launch robot_sim sim.launch.py autostart:=true rviz:=true`); its end-to-end test
+first (`ros2 launch pashupati_sim sim.launch.py autostart:=true rviz:=true`); its end-to-end test
 (sliding around a person, stopping for a crowd, the handheld driving at a person) runs in CI and
 must stay green.
diff --git a/README.md b/README.md
index 051fdf2..313c4a2 100644
--- a/README.md
+++ b/README.md
@@ -137,13 +137,13 @@ flowchart LR
 | [`dharma_localization`](src/dharma_localization) | FAST-LIO frame bridge, `map→odom` from AprilTags / RViz, tag recording |
 | [`pashupati_perception`](src/pashupati_perception) | LiDAR sectors, AprilTag, person detection (YOLO11n ONNX) |
 | [`dharma_navigation`](src/dharma_navigation) | route processing, 5 controllers, 4 avoidance algorithms, final approach, safety |
-| [`robot_bridge`](src/robot_bridge) | AUTO / REMOTE control mux, UDP teleop gateway ([protocol](src/robot_bridge/PROTOCOL.md)), WebRTC video |
-| [`robot_fleet`](src/robot_fleet) | NETRA uplink: telemetry, events, crowd, anomalies, routes ([API](src/robot_fleet/API.md)) |
-| [`robot_inspection`](src/robot_inspection) | VLM inspection (Ollama): continuous, interval queue or stop points, own finding types |
-| [`robot_health`](src/robot_health) | node liveness, odometry / safety scan / e-stop state, sensor rates, CPU, GPU and RAM |
-| [`robot_rviz`](src/robot_rviz) | RViz panels: Mission, Status, Tuning, AprilTags |
+| [`pashupati_bridge`](src/pashupati_bridge) | AUTO / REMOTE control mux, UDP teleop gateway ([protocol](src/pashupati_bridge/PROTOCOL.md)), WebRTC video |
+| [`pashupati_fleet`](src/pashupati_fleet) | NETRA uplink: telemetry, events, crowd, anomalies, routes ([API](src/pashupati_fleet/API.md)) |
+| [`pashupati_inspection`](src/pashupati_inspection) | VLM inspection (Ollama): continuous, interval queue or stop points, own finding types |
+| [`pashupati_health`](src/pashupati_health) | node liveness, odometry / safety scan / e-stop state, sensor rates, CPU, GPU and RAM |
+| [`pashupati_rviz`](src/pashupati_rviz) | RViz panels: Mission, Status, Tuning, AprilTags |
 | [`pashupati`](src/pashupati) | the robot: one launch with respawning nodes, site configuration |
-| [`robot_sim`](src/robot_sim) | simulated quadruped (driver, LiDAR, FAST-LIO interfaces) for the whole stack, end-to-end test |
+| [`pashupati_sim`](src/pashupati_sim) | simulated quadruped (driver, LiDAR, FAST-LIO interfaces) for the whole stack, end-to-end test |
 
 </details>
 
@@ -206,7 +206,7 @@ nothing, or only the vendor's topics:
 echo "alias pashu='source ~/dev/Pashupati/script/env.sh'" >> ~/.bashrc   # once
 pashu
 ros2 topic hz /perception/safety_scan
-pnode robot_bridge teleop_udp_node bridge_params.yaml   # one node, as robot.launch.py runs it
+pnode pashupati_bridge teleop_udp_node bridge_params.yaml   # one node, as robot.launch.py runs it
 ```
 
 <details>
@@ -304,7 +304,7 @@ the tuned values with **Save YAML**.
 | Inspection | `ros2 topic echo /anomaly_detector/status`: state, model, pace, queue, finding types and the last result |
 | People | `ros2 topic echo /perception/people_status`: state, backend, count and boxes |
 | Logs | `journalctl -fu pashupati`; ROS logs older than 7 days are pruned at start |
-| Debug view | RViz `robot_rviz/rviz/robot.rviz`: route coloured by speed, lookahead, cross-track, avoidance cone, approach target, tags |
+| Debug view | RViz `pashupati_rviz/rviz/robot.rviz`: route coloured by speed, lookahead, cross-track, avoidance cone, approach target, tags |
 
 <details>
 <summary><b>Services</b></summary>
@@ -395,10 +395,10 @@ On the robot during development, `script/start_tmux.sh teach|patrol` opens one p
 RViz, with the package default parameters and the env file's settings.
 
 **Simulation.** The whole stack runs against a simulated quadruped
-([robot_sim](src/robot_sim)), with no robot, Gazebo or GPU:
+([pashupati_sim](src/pashupati_sim)), with no robot, Gazebo or GPU:
 
 ```bash
-ros2 launch robot_sim sim.launch.py autostart:=true rviz:=true
+ros2 launch pashupati_sim sim.launch.py autostart:=true rviz:=true
 # a person steps onto the route
 ros2 topic pub --once /sim/obstacles geometry_msgs/msg/PoseArray "{poses: [{position: {x: 2.0, y: -3.0}}]}"
 ```
diff --git a/docs/README.md b/docs/README.md
index e4d69f6..506fd0d 100644
--- a/docs/README.md
+++ b/docs/README.md
@@ -16,8 +16,8 @@ parameter reference holds for every robot.
 |---|---|
 | [README](../README.md) | install, configuration, workflow, operations, development |
 | [Robot packages](../src/xtras/README.md) | what a robot package must provide, checklist for a new robot |
-| [Handheld protocol](../src/robot_bridge/PROTOCOL.md) | the UDP protocol between the robot and the Pashupati Controller |
-| [NETRA API](../src/robot_fleet/API.md) | what the robot sends to and takes from NETRA |
+| [Handheld protocol](../src/pashupati_bridge/PROTOCOL.md) | the UDP protocol between the robot and the Pashupati Controller |
+| [NETRA API](../src/pashupati_fleet/API.md) | what the robot sends to and takes from NETRA |
 | Package READMEs (`src/robot_*/README.md`) | nodes, topics, services and parameters of each package |
 | [CONTRIBUTING](../CONTRIBUTING.md) | branches, commits, rules that come from real crashes |
 | [CHANGELOG](../CHANGELOG.md) | changes per version |
diff --git a/docs/pdf/build.py b/docs/pdf/build.py
index 28c6b8b..518f1e9 100644
--- a/docs/pdf/build.py
+++ b/docs/pdf/build.py
@@ -32,13 +32,13 @@
 # Config files of the parameter reference, in reading order: (package, file, what it covers)
 PARAMETER_FILES = [
     ('pashupati', 'navigation_params.yaml', 'route following, avoidance, stops'),
-    ('robot_bridge', 'bridge_params.yaml', 'control mux, protective field, handheld, video'),
+    ('pashupati_bridge', 'bridge_params.yaml', 'control mux, protective field, handheld, video'),
     ('pashupati', 'perception_params.yaml', 'LiDAR sectors, people, AprilTags'),
     ('pashupati', 'localization_params.yaml', 'map frame from AprilTags'),
-    ('robot_inspection', 'inspection_params.yaml', 'AI inspection'),
+    ('pashupati_inspection', 'inspection_params.yaml', 'AI inspection'),
     ('pashupati', 'odometry_params.yaml', 'odometry start, monitor, route recording'),
-    ('robot_health', 'health_params.yaml', 'health monitor'),
-    ('robot_fleet', 'fleet_params.yaml', 'NETRA uplink'),
+    ('pashupati_health', 'health_params.yaml', 'health monitor'),
+    ('pashupati_fleet', 'fleet_params.yaml', 'NETRA uplink'),
 ]
 
 KEY_LINE = re.compile(r'^(?P<indent> *)(?P<key>[A-Za-z0-9_./]+):\s*(?P<rest>.*)$')
diff --git a/docs/tuning/tuning-guide.md b/docs/tuning/tuning-guide.md
index 74fc01c..a656840 100644
--- a/docs/tuning/tuning-guide.md
+++ b/docs/tuning/tuning-guide.md
@@ -73,7 +73,7 @@ the site file. Only some nodes react to live changes:
 | `person_detector_node` | `enabled`, `confidence`, `rate_hz` |
 | all other nodes | nothing: `ros2 param set` is accepted, but the node only reads its parameters at start. Use the site file and restart |
 
-The **Tuning** panel of RViz (`robot_rviz`) edits the navigation and avoidance parameters with
+The **Tuning** panel of RViz (`pashupati_rviz`) edits the navigation and avoidance parameters with
 sliders; its **Save YAML…** button writes them to a file. RViz runs on a laptop with ROS 2
 Humble on the robot's network: set `ROS_LOCALHOST_ONLY=0` in the env file, restart, and use
 the robot's `ROS_DOMAIN_ID` and `RMW_IMPLEMENTATION` on the laptop.
diff --git a/script/env.sh b/script/env.sh
index 4c0ece2..fdf246d 100644
--- a/script/env.sh
+++ b/script/env.sh
@@ -3,7 +3,7 @@
 #
 #   source ~/dev/Pashupati/script/env.sh      # e.g. alias pashu='source ~/dev/Pashupati/script/env.sh'
 #   ros2 topic list                            # sees the stack, not a vendor stack on another RMW
-#   pnode robot_bridge teleop_udp_node bridge_params.yaml [ros args]
+#   pnode pashupati_bridge teleop_udp_node bridge_params.yaml [ros args]
 #
 # pnode runs one node the way robot.launch.py does: package defaults, then SITE_CONFIG, then args.
 # Env: PASHUPATI_ENV (/etc/pashupati/pashupati.env), ROS_DISTRO (humble)
diff --git a/script/start_tmux.sh b/script/start_tmux.sh
index e49ae73..e368450 100755
--- a/script/start_tmux.sh
+++ b/script/start_tmux.sh
@@ -71,7 +71,7 @@ PERCEPTION="ros2 launch dharma_perception perception.launch.py visitors:=false p
 [[ "$PEOPLE" == "true" ]] && PERCEPTION+=" & ros2 launch pashupati_perception people.launch.py"
 run robot.2 "$PERCEPTION"
 if [[ "$RVIZ" == "1" ]]; then
-    run robot.3 "ros2 run rviz2 rviz2 -d \$(ros2 pkg prefix robot_rviz)/share/robot_rviz/rviz/robot.rviz \
+    run robot.3 "ros2 run rviz2 rviz2 -d \$(ros2 pkg prefix pashupati_rviz)/share/pashupati_rviz/rviz/robot.rviz \
 --ros-args -r battery:=/$ROBOT_NS/battery -r cmd_vel:=/$ROBOT_NS/cmd_vel \
 -r motor_temperature:=/$ROBOT_NS/motor_temperature -r diagnostics:=/$ROBOT_NS/diagnostics"
 fi
@@ -85,21 +85,21 @@ if [[ "$MODE" == "patrol" ]]; then
 cmd_vel_topic:=/bridge/nav_cmd_vel battery_topic:=/$ROBOT_NS/battery"
 fi
 tmux split-window -h -t "$SESSION:nav.0"
-run nav.1 "ros2 launch robot_bridge bridge.launch.py robot_ns:=$ROBOT_NS"
+run nav.1 "ros2 launch pashupati_bridge bridge.launch.py robot_ns:=$ROBOT_NS"
 tmux split-window -v -t "$SESSION:nav.1"
 FLEET_ARGS="robot_ns:=$ROBOT_NS"
 [[ -n "$CC_URL" ]] && FLEET_ARGS+=" server_url:=$CC_URL"
 [[ -n "$CC_TOKEN" ]] && FLEET_ARGS+=" token:=$CC_TOKEN"
-run nav.2 "ros2 launch robot_fleet fleet.launch.py $FLEET_ARGS"
+run nav.2 "ros2 launch pashupati_fleet fleet.launch.py $FLEET_ARGS"
 tmux send-keys -t "$SESSION:nav.3" "$SETUP" C-m
 tmux send-keys -t "$SESSION:nav.3" "# ros2 service call /localization/start std_srvs/srv/Trigger" C-m
 
 # Window 3: health and, when enabled, on-robot inspection (Moondream)
 tmux new-window -t "$SESSION" -n extra
-run extra.0 "ros2 launch robot_health health.launch.py"
+run extra.0 "ros2 launch pashupati_health health.launch.py"
 if truthy "$INSPECTION"; then
     tmux split-window -h -t "$SESSION:extra"
-    run extra.1 "ros2 launch robot_inspection inspection.launch.py"
+    run extra.1 "ros2 launch pashupati_inspection inspection.launch.py"
 fi
 
 tmux select-window -t "$SESSION:robot"
diff --git a/src/pashupati/launch/robot.launch.py b/src/pashupati/launch/robot.launch.py
index 451b334..705e7a0 100644
--- a/src/pashupati/launch/robot.launch.py
+++ b/src/pashupati/launch/robot.launch.py
@@ -102,7 +102,7 @@ def video_server(webrtc: str, binary: str, params_files: list):
         )
     try:
         executable = os.path.join(
-            get_package_prefix('robot_bridge'), 'lib', 'robot_bridge', 'video_stream_node'
+            get_package_prefix('pashupati_bridge'), 'lib', 'pashupati_bridge', 'video_stream_node'
         )
     except PackageNotFoundError:
         executable = ''
@@ -161,7 +161,7 @@ def node(package, executable, defaults, overrides=None, remappings=None, **kwarg
 
     nav = share('pashupati', 'config', 'navigation_params.yaml')
     perception = share('pashupati', 'config', 'perception_params.yaml')
-    bridge = share('robot_bridge', 'config', 'bridge_params.yaml')
+    bridge = share('pashupati_bridge', 'config', 'bridge_params.yaml')
     version = package_version(share('pashupati', 'package.xml'))
     git = os.environ.get('PASHUPATI_GIT', 'unknown')
 
@@ -251,7 +251,7 @@ def node(package, executable, defaults, overrides=None, remappings=None, **kwarg
             remappings=[('cmd_vel', topic('cmd_vel'))],
         ),
         node(
-            'robot_bridge',
+            'pashupati_bridge',
             'teleop_udp_node',
             [bridge],
             teleop,
@@ -265,9 +265,9 @@ def node(package, executable, defaults, overrides=None, remappings=None, **kwarg
     if arg('cc_url').strip():
         actions.append(
             node(
-                'robot_fleet',
+                'pashupati_fleet',
                 'fleet_uplink_node',
-                [share('robot_fleet', 'config', 'fleet_params.yaml')],
+                [share('pashupati_fleet', 'config', 'fleet_params.yaml')],
                 {
                     'server_url': arg('cc_url'),
                     'token': arg('cc_token'),
@@ -286,17 +286,17 @@ def node(package, executable, defaults, overrides=None, remappings=None, **kwarg
     if truthy(arg('inspection')):
         actions.append(
             node(
-                'robot_inspection',
+                'pashupati_inspection',
                 'anomaly_detector_node',
-                [share('robot_inspection', 'config', 'inspection_params.yaml')],
+                [share('pashupati_inspection', 'config', 'inspection_params.yaml')],
             )
         )
     if truthy(arg('health')):
         actions.append(
             node(
-                'robot_health',
+                'pashupati_health',
                 'health_monitor_node',
-                [share('robot_health', 'config', 'health_params.yaml')],
+                [share('pashupati_health', 'config', 'health_params.yaml')],
                 {'expected_nodes': expected_nodes(started, odometry), 'robot_ns': ns},
             )
         )
diff --git a/src/pashupati/package.xml b/src/pashupati/package.xml
index dcd9dac..ecb5d29 100644
--- a/src/pashupati/package.xml
+++ b/src/pashupati/package.xml
@@ -17,10 +17,10 @@
   <exec_depend>pashupati_perception</exec_depend>
   <exec_depend>dharma_control</exec_depend>
   <exec_depend>dharma_navigation</exec_depend>
-  <exec_depend>robot_bridge</exec_depend>
-  <exec_depend>robot_fleet</exec_depend>
-  <exec_depend>robot_inspection</exec_depend>
-  <exec_depend>robot_health</exec_depend>
+  <exec_depend>pashupati_bridge</exec_depend>
+  <exec_depend>pashupati_fleet</exec_depend>
+  <exec_depend>pashupati_inspection</exec_depend>
+  <exec_depend>pashupati_health</exec_depend>
 
   <test_depend>ament_copyright</test_depend>
   <test_depend>ament_flake8</test_depend>
diff --git a/src/pashupati/test/test_bringup.py b/src/pashupati/test/test_bringup.py
index 9d8a5ee..21f501a 100644
--- a/src/pashupati/test/test_bringup.py
+++ b/src/pashupati/test/test_bringup.py
@@ -220,7 +220,7 @@ def servers(webrtc):
         config = yaml.safe_load(f)
     assert config['authInternalUsers'][1]['pass'] == password_hash('s3cret')
     command = shlex.split(config['paths']['camera']['runOnDemand'])
-    assert command[0].endswith(os.path.join('robot_bridge', 'video_stream_node'))
+    assert command[0].endswith(os.path.join('pashupati_bridge', 'video_stream_node'))
     assert str(site) in command  # the encoder gets the same site parameters
     assert servers('false') == []
     binary.write_text('#!/bin/sh\necho v1.9.0\n')
diff --git a/src/pashupati/test/test_video.py b/src/pashupati/test/test_video.py
index a96e74c..054911e 100644
--- a/src/pashupati/test/test_video.py
+++ b/src/pashupati/test/test_video.py
@@ -42,12 +42,12 @@ def test_gstreamer_check(monkeypatch):
 def test_only_the_handheld_may_watch_and_only_this_computer_publish(tmp_path):
     """Reading needs the token (stored as a hash), publishing comes from the loopback only."""
     command = video.node_command(
-        '/ws/install/robot_bridge/lib/robot_bridge/video_stream_node',
+        '/ws/install/pashupati_bridge/lib/pashupati_bridge/video_stream_node',
         ['/ws/my params.yaml', '/etc/pashupati/site.yaml'],
         video.rtsp_url(),
     )
     assert shlex.split(command) == [
-        '/ws/install/robot_bridge/lib/robot_bridge/video_stream_node',
+        '/ws/install/pashupati_bridge/lib/pashupati_bridge/video_stream_node',
         '--ros-args',
         '--params-file',
         '/ws/my params.yaml',
diff --git a/src/robot_bridge/PROTOCOL.md b/src/pashupati_bridge/PROTOCOL.md
similarity index 100%
rename from src/robot_bridge/PROTOCOL.md
rename to src/pashupati_bridge/PROTOCOL.md
diff --git a/src/robot_bridge/README.md b/src/pashupati_bridge/README.md
similarity index 96%
rename from src/robot_bridge/README.md
rename to src/pashupati_bridge/README.md
index 7d53386..bef0b5a 100644
--- a/src/robot_bridge/README.md
+++ b/src/pashupati_bridge/README.md
@@ -1,4 +1,4 @@
-# robot_bridge
+# pashupati_bridge
 
 Who drives the robot, and how the handheld talks to it without ROS.
 
@@ -73,7 +73,7 @@ MediaMTX serves WebRTC (WHEP) to the handheld. MediaMTX, its configuration and t
 ## Run
 
 ```bash
-ros2 launch robot_bridge bridge.launch.py robot_ns:=robot
+ros2 launch pashupati_bridge bridge.launch.py robot_ns:=robot
 ros2 launch dharma_navigation navigation.launch.py cmd_vel_topic:=/bridge/nav_cmd_vel ...
 ```
 
@@ -83,5 +83,5 @@ publish a compressed image (`camera_compressed: true`); raw images are JPEG-enco
 ## Test
 
 ```bash
-colcon test --packages-select robot_bridge && colcon test-result --verbose
+colcon test --packages-select pashupati_bridge && colcon test-result --verbose
 ```
diff --git a/src/robot_bridge/config/bridge_params.yaml b/src/pashupati_bridge/config/bridge_params.yaml
similarity index 100%
rename from src/robot_bridge/config/bridge_params.yaml
rename to src/pashupati_bridge/config/bridge_params.yaml
diff --git a/src/robot_bridge/launch/bridge.launch.py b/src/pashupati_bridge/launch/bridge.launch.py
similarity index 93%
rename from src/robot_bridge/launch/bridge.launch.py
rename to src/pashupati_bridge/launch/bridge.launch.py
index d666409..e59ab26 100644
--- a/src/robot_bridge/launch/bridge.launch.py
+++ b/src/pashupati_bridge/launch/bridge.launch.py
@@ -10,7 +10,7 @@
 
 def generate_launch_description():
     """Launch the control mux and the UDP teleop gateway."""
-    share = get_package_share_directory('robot_bridge')
+    share = get_package_share_directory('pashupati_bridge')
     params = os.path.join(share, 'config', 'bridge_params.yaml')
     robot_ns = LaunchConfiguration('robot_ns')
     return LaunchDescription(
@@ -26,7 +26,7 @@ def generate_launch_description():
                 remappings=[('cmd_vel', ['/', robot_ns, '/cmd_vel'])],
             ),
             Node(
-                package='robot_bridge',
+                package='pashupati_bridge',
                 executable='teleop_udp_node',
                 name='teleop_udp_node',
                 output='screen',
diff --git a/src/robot_bridge/package.xml b/src/pashupati_bridge/package.xml
similarity index 98%
rename from src/robot_bridge/package.xml
rename to src/pashupati_bridge/package.xml
index 172e85a..78ee580 100644
--- a/src/robot_bridge/package.xml
+++ b/src/pashupati_bridge/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>robot_bridge</name>
+  <name>pashupati_bridge</name>
   <version>0.1.0</version>
   <description>Auto/remote control mux, the UDP teleop gateway (no ROS on the handheld) and its WebRTC video encoder.</description>
   <maintainer email="darmawandeveloper@gmail.com">Agus Darmawan</maintainer>
diff --git a/src/robot_bridge/robot_bridge/__init__.py b/src/pashupati_bridge/pashupati_bridge/__init__.py
similarity index 100%
rename from src/robot_bridge/robot_bridge/__init__.py
rename to src/pashupati_bridge/pashupati_bridge/__init__.py
diff --git a/src/robot_bridge/robot_bridge/protocol.py b/src/pashupati_bridge/pashupati_bridge/protocol.py
similarity index 100%
rename from src/robot_bridge/robot_bridge/protocol.py
rename to src/pashupati_bridge/pashupati_bridge/protocol.py
diff --git a/src/robot_bridge/robot_bridge/teleop_udp_node.py b/src/pashupati_bridge/pashupati_bridge/teleop_udp_node.py
similarity index 99%
rename from src/robot_bridge/robot_bridge/teleop_udp_node.py
rename to src/pashupati_bridge/pashupati_bridge/teleop_udp_node.py
index ec272b2..6661972 100644
--- a/src/robot_bridge/robot_bridge/teleop_udp_node.py
+++ b/src/pashupati_bridge/pashupati_bridge/teleop_udp_node.py
@@ -15,6 +15,7 @@
 from diagnostic_msgs.msg import DiagnosticArray
 from geometry_msgs.msg import Twist
 import numpy as np
+from pashupati_bridge import protocol
 from rcl_interfaces.msg import ParameterType
 from rcl_interfaces.srv import GetParameters, SetParameters
 import rclpy
@@ -23,7 +24,6 @@
 from rclpy.parameter import Parameter
 from rclpy.qos import qos_profile_sensor_data, QoSDurabilityPolicy, QoSProfile
 from rclpy.time import Time
-from robot_bridge import protocol
 from sensor_msgs.msg import BatteryState, CameraInfo, CompressedImage, Image, PointCloud2
 from std_msgs.msg import Bool, String
 from std_srvs.srv import SetBool, Trigger
diff --git a/src/robot_bridge/robot_bridge/video_stream_node.py b/src/pashupati_bridge/pashupati_bridge/video_stream_node.py
similarity index 100%
rename from src/robot_bridge/robot_bridge/video_stream_node.py
rename to src/pashupati_bridge/pashupati_bridge/video_stream_node.py
diff --git a/src/robot_bridge/resource/robot_bridge b/src/pashupati_bridge/resource/pashupati_bridge
similarity index 100%
rename from src/robot_bridge/resource/robot_bridge
rename to src/pashupati_bridge/resource/pashupati_bridge
diff --git a/src/pashupati_bridge/setup.cfg b/src/pashupati_bridge/setup.cfg
new file mode 100644
index 0000000..814134f
--- /dev/null
+++ b/src/pashupati_bridge/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/pashupati_bridge
+[install]
+install_scripts=$base/lib/pashupati_bridge
diff --git a/src/robot_bridge/setup.py b/src/pashupati_bridge/setup.py
similarity index 83%
rename from src/robot_bridge/setup.py
rename to src/pashupati_bridge/setup.py
index a1e88c8..9b18ebd 100644
--- a/src/robot_bridge/setup.py
+++ b/src/pashupati_bridge/setup.py
@@ -3,7 +3,7 @@
 
 from setuptools import find_packages, setup
 
-package_name = 'robot_bridge'
+package_name = 'pashupati_bridge'
 
 setup(
     name=package_name,
@@ -24,8 +24,8 @@
     license='Apache-2.0',
     entry_points={
         'console_scripts': [
-            'teleop_udp_node = robot_bridge.teleop_udp_node:main',
-            'video_stream_node = robot_bridge.video_stream_node:main',
+            'teleop_udp_node = pashupati_bridge.teleop_udp_node:main',
+            'video_stream_node = pashupati_bridge.video_stream_node:main',
         ],
     },
 )
diff --git a/src/robot_bridge/test/test_copyright.py b/src/pashupati_bridge/test/test_copyright.py
similarity index 100%
rename from src/robot_bridge/test/test_copyright.py
rename to src/pashupati_bridge/test/test_copyright.py
diff --git a/src/robot_bridge/test/test_flake8.py b/src/pashupati_bridge/test/test_flake8.py
similarity index 100%
rename from src/robot_bridge/test/test_flake8.py
rename to src/pashupati_bridge/test/test_flake8.py
diff --git a/src/robot_bridge/test/test_node_members.py b/src/pashupati_bridge/test/test_node_members.py
similarity index 100%
rename from src/robot_bridge/test/test_node_members.py
rename to src/pashupati_bridge/test/test_node_members.py
diff --git a/src/robot_bridge/test/test_pep257.py b/src/pashupati_bridge/test/test_pep257.py
similarity index 100%
rename from src/robot_bridge/test/test_pep257.py
rename to src/pashupati_bridge/test/test_pep257.py
diff --git a/src/robot_bridge/test/test_protocol.py b/src/pashupati_bridge/test/test_protocol.py
similarity index 95%
rename from src/robot_bridge/test/test_protocol.py
rename to src/pashupati_bridge/test/test_protocol.py
index 95972b9..b0298ab 100644
--- a/src/robot_bridge/test/test_protocol.py
+++ b/src/pashupati_bridge/test/test_protocol.py
@@ -2,8 +2,8 @@
 import types
 
 import numpy as np
+from pashupati_bridge import protocol
 import pytest
-from robot_bridge import protocol
 
 
 def test_tag_quads_are_image_fractions():
@@ -65,7 +65,7 @@ def test_discovery_beacon_and_seq():
     """A discover probe gets a beacon without the token; states carry an increasing seq."""
     import socket
 
-    node_module = pytest.importorskip('robot_bridge.teleop_udp_node')
+    node_module = pytest.importorskip('pashupati_bridge.teleop_udp_node')
     node = node_module.TeleopUdpNode.__new__(node_module.TeleopUdpNode)
     node._robot_name, node._token, node._client, node._client_seen = 'dog-01', 'secret', None, 0.0
     node._client_timeout, node._client_name, node._seq = 1.0, '', 0
@@ -97,7 +97,7 @@ def test_discovery_beacon_and_seq():
 
 def test_camera_rate_from_the_handheld_is_bounded():
     """camera_fps from the client is capped by the parameter; NaN, text and bools are ignored."""
-    node_module = pytest.importorskip('robot_bridge.teleop_udp_node')
+    node_module = pytest.importorskip('pashupati_bridge.teleop_udp_node')
     node = node_module.TeleopUdpNode.__new__(node_module.TeleopUdpNode)
     node.get_parameter = lambda name: types.SimpleNamespace(value=8.0)
     node._camera_period = 0.125
diff --git a/src/robot_bridge/test/test_teleop_node.py b/src/pashupati_bridge/test/test_teleop_node.py
similarity index 98%
rename from src/robot_bridge/test/test_teleop_node.py
rename to src/pashupati_bridge/test/test_teleop_node.py
index 383c773..ffb3448 100644
--- a/src/robot_bridge/test/test_teleop_node.py
+++ b/src/pashupati_bridge/test/test_teleop_node.py
@@ -10,7 +10,7 @@
 Twist = pytest.importorskip('geometry_msgs.msg').Twist
 String = pytest.importorskip('std_msgs.msg').String
 SingleThreadedExecutor = pytest.importorskip('rclpy.executors').SingleThreadedExecutor
-TeleopUdpNode = pytest.importorskip('robot_bridge.teleop_udp_node').TeleopUdpNode
+TeleopUdpNode = pytest.importorskip('pashupati_bridge.teleop_udp_node').TeleopUdpNode
 
 TOKEN = 'secret'
 
@@ -296,7 +296,7 @@ def acks_of(rig, sock) -> dict:
 
 def test_inspection_arguments_are_checked():
     """inspection_set maps to the detector's live parameters; junk is refused with the reason."""
-    from robot_bridge.teleop_udp_node import inspection_parameters, set_parameters_request
+    from pashupati_bridge.teleop_udp_node import inspection_parameters, set_parameters_request
 
     assert inspection_parameters({'enabled': False, 'model': ' moondream ', 'interval': 0}) == [
         ('enabled', False),
@@ -313,7 +313,7 @@ def test_inspection_arguments_are_checked():
 
 def test_own_finding_types_map_to_the_category_parameters():
     """The handheld's types become names, reported names and 'name: description' entries."""
-    from robot_bridge.teleop_udp_node import inspection_parameters, set_parameters_request
+    from pashupati_bridge.teleop_udp_node import inspection_parameters, set_parameters_request
 
     types = [
         {'name': 'trash', 'desc': '', 'report': True},
diff --git a/src/robot_bridge/test/test_video_stream_node.py b/src/pashupati_bridge/test/test_video_stream_node.py
similarity index 97%
rename from src/robot_bridge/test/test_video_stream_node.py
rename to src/pashupati_bridge/test/test_video_stream_node.py
index bcae747..e764fdd 100644
--- a/src/robot_bridge/test/test_video_stream_node.py
+++ b/src/pashupati_bridge/test/test_video_stream_node.py
@@ -3,7 +3,7 @@
 import numpy as np
 import pytest
 
-video = pytest.importorskip('robot_bridge.video_stream_node')
+video = pytest.importorskip('pashupati_bridge.video_stream_node')
 
 URL = 'rtsp://127.0.0.1:8654/camera'
 
diff --git a/src/robot_fleet/API.md b/src/pashupati_fleet/API.md
similarity index 100%
rename from src/robot_fleet/API.md
rename to src/pashupati_fleet/API.md
diff --git a/src/robot_fleet/README.md b/src/pashupati_fleet/README.md
similarity index 89%
rename from src/robot_fleet/README.md
rename to src/pashupati_fleet/README.md
index 7de0c77..40e7284 100644
--- a/src/robot_fleet/README.md
+++ b/src/pashupati_fleet/README.md
@@ -1,4 +1,4 @@
-# robot_fleet
+# pashupati_fleet
 
 Robot side of the NETRA command center. `fleet_uplink_node` keeps one WebSocket to the server and
 an on-disk outbox for uploads, so a robot that loses Wi-Fi in the middle of a patrol loses nothing.
@@ -18,7 +18,7 @@ Commands from the server (`start_patrol`, `stop_patrol`, `pause`, `resume`, `loc
 ## Run
 
 ```bash
-ros2 launch robot_fleet fleet.launch.py robot_ns:=robot \
+ros2 launch pashupati_fleet fleet.launch.py robot_ns:=robot \
   server_url:=https://netra.example.com token:=<robot token>
 ```
 
@@ -28,5 +28,5 @@ Without `server_url` the node only spools uploads (`~/.pashupati/spool`). Parame
 ## Test
 
 ```bash
-colcon test --packages-select robot_fleet && colcon test-result --verbose
+colcon test --packages-select pashupati_fleet && colcon test-result --verbose
 ```
diff --git a/src/robot_fleet/config/fleet_params.yaml b/src/pashupati_fleet/config/fleet_params.yaml
similarity index 100%
rename from src/robot_fleet/config/fleet_params.yaml
rename to src/pashupati_fleet/config/fleet_params.yaml
diff --git a/src/robot_fleet/launch/fleet.launch.py b/src/pashupati_fleet/launch/fleet.launch.py
similarity index 93%
rename from src/robot_fleet/launch/fleet.launch.py
rename to src/pashupati_fleet/launch/fleet.launch.py
index 2ffc836..5e1c674 100644
--- a/src/robot_fleet/launch/fleet.launch.py
+++ b/src/pashupati_fleet/launch/fleet.launch.py
@@ -10,7 +10,7 @@
 
 def generate_launch_description():
     """Launch the command-center uplink."""
-    share = get_package_share_directory('robot_fleet')
+    share = get_package_share_directory('pashupati_fleet')
     params = os.path.join(share, 'config', 'fleet_params.yaml')
     robot_ns = LaunchConfiguration('robot_ns')
     return LaunchDescription(
@@ -20,7 +20,7 @@ def generate_launch_description():
             DeclareLaunchArgument('server_url', default_value=''),
             DeclareLaunchArgument('token', default_value=''),
             Node(
-                package='robot_fleet',
+                package='pashupati_fleet',
                 executable='fleet_uplink_node',
                 name='fleet_uplink_node',
                 output='screen',
diff --git a/src/robot_fleet/package.xml b/src/pashupati_fleet/package.xml
similarity index 97%
rename from src/robot_fleet/package.xml
rename to src/pashupati_fleet/package.xml
index 6e26516..73e7b6a 100644
--- a/src/robot_fleet/package.xml
+++ b/src/pashupati_fleet/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>robot_fleet</name>
+  <name>pashupati_fleet</name>
   <version>0.1.0</version>
   <description>Robot side of the NETRA command center: telemetry, events, crowd, anomalies, routes.</description>
   <maintainer email="darmawandeveloper@gmail.com">Agus Darmawan</maintainer>
diff --git a/src/robot_fleet/robot_fleet/__init__.py b/src/pashupati_fleet/pashupati_fleet/__init__.py
similarity index 100%
rename from src/robot_fleet/robot_fleet/__init__.py
rename to src/pashupati_fleet/pashupati_fleet/__init__.py
diff --git a/src/robot_fleet/robot_fleet/anomaly.py b/src/pashupati_fleet/pashupati_fleet/anomaly.py
similarity index 100%
rename from src/robot_fleet/robot_fleet/anomaly.py
rename to src/pashupati_fleet/pashupati_fleet/anomaly.py
diff --git a/src/robot_fleet/robot_fleet/crowd.py b/src/pashupati_fleet/pashupati_fleet/crowd.py
similarity index 100%
rename from src/robot_fleet/robot_fleet/crowd.py
rename to src/pashupati_fleet/pashupati_fleet/crowd.py
diff --git a/src/robot_fleet/robot_fleet/fleet_uplink_node.py b/src/pashupati_fleet/pashupati_fleet/fleet_uplink_node.py
similarity index 99%
rename from src/robot_fleet/robot_fleet/fleet_uplink_node.py
rename to src/pashupati_fleet/pashupati_fleet/fleet_uplink_node.py
index 4961e91..1aec7e6 100644
--- a/src/robot_fleet/robot_fleet/fleet_uplink_node.py
+++ b/src/pashupati_fleet/pashupati_fleet/fleet_uplink_node.py
@@ -13,6 +13,11 @@
 from dharma_interfaces.srv import LoadPath
 from diagnostic_msgs.msg import DiagnosticArray
 from geometry_msgs.msg import PoseArray
+from pashupati_fleet.anomaly import parse_result
+from pashupati_fleet.crowd import CrowdAggregator
+from pashupati_fleet.routes import safe_route_id, summarize_csv
+from pashupati_fleet.spool import Spool
+from pashupati_fleet.switches import live_parameters, status_summary, SWITCHES
 from rcl_interfaces.srv import SetParameters
 import rclpy
 from rclpy.executors import ExternalShutdownException
@@ -20,11 +25,6 @@
 from rclpy.parameter import Parameter
 from rclpy.qos import qos_profile_sensor_data, QoSDurabilityPolicy, QoSProfile
 from rclpy.time import Time
-from robot_fleet.anomaly import parse_result
-from robot_fleet.crowd import CrowdAggregator
-from robot_fleet.routes import safe_route_id, summarize_csv
-from robot_fleet.spool import Spool
-from robot_fleet.switches import live_parameters, status_summary, SWITCHES
 from sensor_msgs.msg import BatteryState, CompressedImage
 from std_msgs.msg import Bool, String
 from std_srvs.srv import SetBool, Trigger
diff --git a/src/robot_fleet/robot_fleet/routes.py b/src/pashupati_fleet/pashupati_fleet/routes.py
similarity index 100%
rename from src/robot_fleet/robot_fleet/routes.py
rename to src/pashupati_fleet/pashupati_fleet/routes.py
diff --git a/src/robot_fleet/robot_fleet/spool.py b/src/pashupati_fleet/pashupati_fleet/spool.py
similarity index 100%
rename from src/robot_fleet/robot_fleet/spool.py
rename to src/pashupati_fleet/pashupati_fleet/spool.py
diff --git a/src/robot_fleet/robot_fleet/switches.py b/src/pashupati_fleet/pashupati_fleet/switches.py
similarity index 100%
rename from src/robot_fleet/robot_fleet/switches.py
rename to src/pashupati_fleet/pashupati_fleet/switches.py
diff --git a/src/robot_fleet/resource/robot_fleet b/src/pashupati_fleet/resource/pashupati_fleet
similarity index 100%
rename from src/robot_fleet/resource/robot_fleet
rename to src/pashupati_fleet/resource/pashupati_fleet
diff --git a/src/pashupati_fleet/setup.cfg b/src/pashupati_fleet/setup.cfg
new file mode 100644
index 0000000..6fedb45
--- /dev/null
+++ b/src/pashupati_fleet/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/pashupati_fleet
+[install]
+install_scripts=$base/lib/pashupati_fleet
diff --git a/src/robot_fleet/setup.py b/src/pashupati_fleet/setup.py
similarity index 83%
rename from src/robot_fleet/setup.py
rename to src/pashupati_fleet/setup.py
index 1cf9525..270d470 100644
--- a/src/robot_fleet/setup.py
+++ b/src/pashupati_fleet/setup.py
@@ -3,7 +3,7 @@
 
 from setuptools import find_packages, setup
 
-package_name = 'robot_fleet'
+package_name = 'pashupati_fleet'
 
 setup(
     name=package_name,
@@ -22,5 +22,7 @@
     maintainer_email='darmawandeveloper@gmail.com',
     description='Robot side of the NETRA command center',
     license='Apache-2.0',
-    entry_points={'console_scripts': ['fleet_uplink_node = robot_fleet.fleet_uplink_node:main']},
+    entry_points={
+        'console_scripts': ['fleet_uplink_node = pashupati_fleet.fleet_uplink_node:main'],
+    },
 )
diff --git a/src/robot_fleet/test/test_copyright.py b/src/pashupati_fleet/test/test_copyright.py
similarity index 100%
rename from src/robot_fleet/test/test_copyright.py
rename to src/pashupati_fleet/test/test_copyright.py
diff --git a/src/robot_fleet/test/test_flake8.py b/src/pashupati_fleet/test/test_flake8.py
similarity index 100%
rename from src/robot_fleet/test/test_flake8.py
rename to src/pashupati_fleet/test/test_flake8.py
diff --git a/src/robot_fleet/test/test_fleet_units.py b/src/pashupati_fleet/test/test_fleet_units.py
similarity index 90%
rename from src/robot_fleet/test/test_fleet_units.py
rename to src/pashupati_fleet/test/test_fleet_units.py
index acddb94..291f829 100644
--- a/src/robot_fleet/test/test_fleet_units.py
+++ b/src/pashupati_fleet/test/test_fleet_units.py
@@ -1,9 +1,9 @@
 import json
 
-from robot_fleet.anomaly import parse_result
-from robot_fleet.crowd import CrowdAggregator
-from robot_fleet.routes import summarize_csv
-from robot_fleet.spool import Spool
+from pashupati_fleet.anomaly import parse_result
+from pashupati_fleet.crowd import CrowdAggregator
+from pashupati_fleet.routes import summarize_csv
+from pashupati_fleet.spool import Spool
 
 
 def test_crowd_keeps_peak_per_cell_and_window():
@@ -60,7 +60,7 @@ def test_spool_quarantines_unreadable_items(tmp_path):
 
 def test_route_ids_cannot_escape_the_routes_dir():
     """Only plain ids are accepted for downloaded routes."""
-    from robot_fleet.routes import safe_route_id
+    from pashupati_fleet.routes import safe_route_id
 
     for good in ('42', 42, 'route-7', 'a1b2_c3.v2'):
         assert safe_route_id(good)
@@ -71,7 +71,7 @@ def test_route_ids_cannot_escape_the_routes_dir():
 def test_live_switches_from_the_command_center():
     """set_inspection / set_people map to the detectors' live parameters; junk is refused."""
     import pytest
-    from robot_fleet.switches import live_parameters, status_summary
+    from pashupati_fleet.switches import live_parameters, status_summary
 
     assert live_parameters('set_people', {'enabled': False}) == [('enabled', False)]
     assert live_parameters('set_inspection', {'model': ' moondream ', 'interval': -9}) == [
@@ -95,7 +95,7 @@ def test_queued_finding_takes_the_pose_of_when_it_was_seen():
     """A frame inspected late is placed where the robot was when the camera took it."""
     import pytest
 
-    pose_at = pytest.importorskip('robot_fleet.fleet_uplink_node').pose_at
+    pose_at = pytest.importorskip('pashupati_fleet.fleet_uplink_node').pose_at
     history = [(100.0, {'x': 0.0}), (101.0, {'x': 0.5}), (102.0, {'x': 1.0})]
     assert pose_at(history, 101.3) == {'x': 0.5}
     assert pose_at(history, 107.5) is None  # nothing recorded within 5 s
diff --git a/src/robot_fleet/test/test_node_members.py b/src/pashupati_fleet/test/test_node_members.py
similarity index 100%
rename from src/robot_fleet/test/test_node_members.py
rename to src/pashupati_fleet/test/test_node_members.py
diff --git a/src/robot_fleet/test/test_pep257.py b/src/pashupati_fleet/test/test_pep257.py
similarity index 100%
rename from src/robot_fleet/test/test_pep257.py
rename to src/pashupati_fleet/test/test_pep257.py
diff --git a/src/robot_health/README.md b/src/pashupati_health/README.md
similarity index 95%
rename from src/robot_health/README.md
rename to src/pashupati_health/README.md
index bd02d4a..ffb1927 100644
--- a/src/robot_health/README.md
+++ b/src/pashupati_health/README.md
@@ -1,4 +1,4 @@
-# robot_health
+# pashupati_health
 
 `health_monitor_node` watches what a patrol depends on and says when something is off.
 
@@ -18,6 +18,6 @@
 | `health/status` | `std_msgs/String` (JSON, latched) | `{ok, level (ok\|warn\|error), issues[], topics{topic: hz}, odometry, localization, field, estop, cpu_temp_c, memory_percent, memory_used_gb, memory_total_gb, cpu_percent, gpu_percent, disk_free_gb, load}` — shown on the teleop and sent to NETRA with the telemetry |
 
 ```bash
-ros2 launch robot_health health.launch.py
+ros2 launch pashupati_health health.launch.py
 ros2 topic echo /health/status
 ```
diff --git a/src/robot_health/config/health_params.yaml b/src/pashupati_health/config/health_params.yaml
similarity index 100%
rename from src/robot_health/config/health_params.yaml
rename to src/pashupati_health/config/health_params.yaml
diff --git a/src/robot_health/launch/health.launch.py b/src/pashupati_health/launch/health.launch.py
similarity index 88%
rename from src/robot_health/launch/health.launch.py
rename to src/pashupati_health/launch/health.launch.py
index 283102e..4a24f33 100644
--- a/src/robot_health/launch/health.launch.py
+++ b/src/pashupati_health/launch/health.launch.py
@@ -10,13 +10,13 @@
 
 def generate_launch_description():
     """Launch the health monitor."""
-    share = get_package_share_directory('robot_health')
+    share = get_package_share_directory('pashupati_health')
     params = os.path.join(share, 'config', 'health_params.yaml')
     return LaunchDescription(
         [
             DeclareLaunchArgument('params_file', default_value=params),
             Node(
-                package='robot_health',
+                package='pashupati_health',
                 executable='health_monitor_node',
                 name='health_monitor_node',
                 output='screen',
diff --git a/src/robot_health/package.xml b/src/pashupati_health/package.xml
similarity index 96%
rename from src/robot_health/package.xml
rename to src/pashupati_health/package.xml
index 874c007..53fb1a4 100644
--- a/src/robot_health/package.xml
+++ b/src/pashupati_health/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>robot_health</name>
+  <name>pashupati_health</name>
   <version>0.1.0</version>
   <description>Sensor topic rates and computer health as diagnostics and a JSON summary.</description>
   <maintainer email="darmawandeveloper@gmail.com">Agus Darmawan</maintainer>
diff --git a/src/robot_health/robot_health/__init__.py b/src/pashupati_health/pashupati_health/__init__.py
similarity index 100%
rename from src/robot_health/robot_health/__init__.py
rename to src/pashupati_health/pashupati_health/__init__.py
diff --git a/src/robot_health/robot_health/checks.py b/src/pashupati_health/pashupati_health/checks.py
similarity index 100%
rename from src/robot_health/robot_health/checks.py
rename to src/pashupati_health/pashupati_health/checks.py
diff --git a/src/robot_health/robot_health/health_monitor_node.py b/src/pashupati_health/pashupati_health/health_monitor_node.py
similarity index 99%
rename from src/robot_health/robot_health/health_monitor_node.py
rename to src/pashupati_health/pashupati_health/health_monitor_node.py
index bb82032..639aa00 100644
--- a/src/robot_health/robot_health/health_monitor_node.py
+++ b/src/pashupati_health/pashupati_health/health_monitor_node.py
@@ -4,11 +4,7 @@
 import time
 
 from diagnostic_msgs.msg import DiagnosticArray, DiagnosticStatus, KeyValue
-import rclpy
-from rclpy.executors import ExternalShutdownException
-from rclpy.node import Node
-from rclpy.qos import qos_profile_sensor_data, QoSDurabilityPolicy, QoSProfile
-from robot_health.checks import (
+from pashupati_health.checks import (
     cpu_temperature,
     CpuUsage,
     disk_free_gb,
@@ -21,6 +17,10 @@
     RateTracker,
     state_issues,
 )
+import rclpy
+from rclpy.executors import ExternalShutdownException
+from rclpy.node import Node
+from rclpy.qos import qos_profile_sensor_data, QoSDurabilityPolicy, QoSProfile
 from rosidl_runtime_py.utilities import get_message
 from std_msgs.msg import Bool, String
 
diff --git a/src/robot_health/resource/robot_health b/src/pashupati_health/resource/pashupati_health
similarity index 100%
rename from src/robot_health/resource/robot_health
rename to src/pashupati_health/resource/pashupati_health
diff --git a/src/pashupati_health/setup.cfg b/src/pashupati_health/setup.cfg
new file mode 100644
index 0000000..2e2be69
--- /dev/null
+++ b/src/pashupati_health/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/pashupati_health
+[install]
+install_scripts=$base/lib/pashupati_health
diff --git a/src/robot_health/setup.py b/src/pashupati_health/setup.py
similarity index 88%
rename from src/robot_health/setup.py
rename to src/pashupati_health/setup.py
index e5963b3..17b70b8 100644
--- a/src/robot_health/setup.py
+++ b/src/pashupati_health/setup.py
@@ -3,7 +3,7 @@
 
 from setuptools import find_packages, setup
 
-package_name = 'robot_health'
+package_name = 'pashupati_health'
 
 setup(
     name=package_name,
@@ -24,7 +24,7 @@
     license='Apache-2.0',
     entry_points={
         'console_scripts': [
-            'health_monitor_node = robot_health.health_monitor_node:main',
+            'health_monitor_node = pashupati_health.health_monitor_node:main',
         ],
     },
 )
diff --git a/src/robot_health/test/test_checks.py b/src/pashupati_health/test/test_checks.py
similarity index 98%
rename from src/robot_health/test/test_checks.py
rename to src/pashupati_health/test/test_checks.py
index 8d31720..5e06815 100644
--- a/src/robot_health/test/test_checks.py
+++ b/src/pashupati_health/test/test_checks.py
@@ -1,4 +1,4 @@
-from robot_health.checks import (
+from pashupati_health.checks import (
     CpuUsage,
     disk_free_gb,
     gpu_load_path,
diff --git a/src/robot_health/test/test_copyright.py b/src/pashupati_health/test/test_copyright.py
similarity index 100%
rename from src/robot_health/test/test_copyright.py
rename to src/pashupati_health/test/test_copyright.py
diff --git a/src/robot_health/test/test_flake8.py b/src/pashupati_health/test/test_flake8.py
similarity index 100%
rename from src/robot_health/test/test_flake8.py
rename to src/pashupati_health/test/test_flake8.py
diff --git a/src/robot_health/test/test_node_members.py b/src/pashupati_health/test/test_node_members.py
similarity index 100%
rename from src/robot_health/test/test_node_members.py
rename to src/pashupati_health/test/test_node_members.py
diff --git a/src/robot_health/test/test_pep257.py b/src/pashupati_health/test/test_pep257.py
similarity index 100%
rename from src/robot_health/test/test_pep257.py
rename to src/pashupati_health/test/test_pep257.py
diff --git a/src/robot_inspection/README.md b/src/pashupati_inspection/README.md
similarity index 95%
rename from src/robot_inspection/README.md
rename to src/pashupati_inspection/README.md
index 5319df5..73e8ed5 100644
--- a/src/robot_inspection/README.md
+++ b/src/pashupati_inspection/README.md
@@ -1,4 +1,4 @@
-# robot_inspection
+# pashupati_inspection
 
 `anomaly_detector_node` — early anomaly detection on the robot with a local vision-language model
 (Ollama, no cloud). The NETRA command center runs the final detection and the operator validation.
@@ -7,7 +7,7 @@
 |---|---|---|
 | `image_topic` (`/camera/camera/color/image_raw`) | `sensor_msgs/Image` | camera input |
 | `~/check_now` (`/anomaly_detector_node/check_now`) | `std_srvs/Trigger` | inspect the latest frame now; called by `path_follower_node` at every stop point |
-| `anomaly_detector/result` | `std_msgs/String` (JSON) | `{category, description, model, latency_ms, is_anomaly, source, evidence_stamp}`, published only for `alarm_categories`; `robot_fleet` uploads them with the evidence frame and pose |
+| `anomaly_detector/result` | `std_msgs/String` (JSON) | `{category, description, model, latency_ms, is_anomaly, source, evidence_stamp}`, published only for `alarm_categories`; `pashupati_fleet` uploads them with the evidence frame and pose |
 | `anomaly_detector/evidence` | `sensor_msgs/CompressedImage` | the camera frame the result was detected in (full size), published just before the result; its stamp equals `evidence_stamp` |
 | `anomaly_detector/status` | `std_msgs/String` (JSON, latched, every 2 s and on change) | `{enabled, model, state (loading, running, off, error), error, interval_sec, models [{name, installed, active}], last {category, reported, latency_ms, description, source, at}, inspections, reports}`, shown on the handheld |
 
@@ -69,8 +69,8 @@ inspection and the raw answer).
 ## Run
 
 ```bash
-ros2 launch robot_inspection inspection.launch.py
-ros2 run robot_inspection anomaly_detector_node --ros-args \
+ros2 launch pashupati_inspection inspection.launch.py
+ros2 run pashupati_inspection anomaly_detector_node --ros-args \
   -p model:=ahmadwaqar/smolvlm2-2.2b-instruct:latest -p describe:=true -p debug:=true
 ros2 service call /anomaly_detector_node/check_now std_srvs/srv/Trigger
 ros2 topic echo /anomaly_detector/result
diff --git a/src/robot_inspection/config/inspection_params.yaml b/src/pashupati_inspection/config/inspection_params.yaml
similarity index 100%
rename from src/robot_inspection/config/inspection_params.yaml
rename to src/pashupati_inspection/config/inspection_params.yaml
diff --git a/src/robot_inspection/launch/inspection.launch.py b/src/pashupati_inspection/launch/inspection.launch.py
similarity index 87%
rename from src/robot_inspection/launch/inspection.launch.py
rename to src/pashupati_inspection/launch/inspection.launch.py
index 10bcbb0..a446e38 100644
--- a/src/robot_inspection/launch/inspection.launch.py
+++ b/src/pashupati_inspection/launch/inspection.launch.py
@@ -10,13 +10,13 @@
 
 def generate_launch_description():
     """Launch the VLM anomaly detector."""
-    share = get_package_share_directory('robot_inspection')
+    share = get_package_share_directory('pashupati_inspection')
     params = os.path.join(share, 'config', 'inspection_params.yaml')
     return LaunchDescription(
         [
             DeclareLaunchArgument('params_file', default_value=params),
             Node(
-                package='robot_inspection',
+                package='pashupati_inspection',
                 executable='anomaly_detector_node',
                 name='anomaly_detector_node',
                 output='screen',
diff --git a/src/robot_inspection/package.xml b/src/pashupati_inspection/package.xml
similarity index 96%
rename from src/robot_inspection/package.xml
rename to src/pashupati_inspection/package.xml
index 65738fc..ca65551 100644
--- a/src/robot_inspection/package.xml
+++ b/src/pashupati_inspection/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>robot_inspection</name>
+  <name>pashupati_inspection</name>
   <version>0.1.0</version>
   <description>Early anomaly detection on the robot with a local VLM via Ollama.</description>
   <maintainer email="darmawandeveloper@gmail.com">Agus Darmawan</maintainer>
diff --git a/src/robot_inspection/robot_inspection/__init__.py b/src/pashupati_inspection/pashupati_inspection/__init__.py
similarity index 100%
rename from src/robot_inspection/robot_inspection/__init__.py
rename to src/pashupati_inspection/pashupati_inspection/__init__.py
diff --git a/src/robot_inspection/robot_inspection/anomaly_detector_node.py b/src/pashupati_inspection/pashupati_inspection/anomaly_detector_node.py
similarity index 99%
rename from src/robot_inspection/robot_inspection/anomaly_detector_node.py
rename to src/pashupati_inspection/pashupati_inspection/anomaly_detector_node.py
index 5e5dba0..4e28324 100644
--- a/src/robot_inspection/robot_inspection/anomaly_detector_node.py
+++ b/src/pashupati_inspection/pashupati_inspection/anomaly_detector_node.py
@@ -9,15 +9,8 @@
 
 import cv2
 import numpy as np
-from rcl_interfaces.msg import SetParametersResult
-import rclpy
-from rclpy.callback_groups import MutuallyExclusiveCallbackGroup, ReentrantCallbackGroup
-from rclpy.executors import ExternalShutdownException, MultiThreadedExecutor
-from rclpy.node import Node
-from rclpy.parameter import Parameter
-from rclpy.qos import qos_profile_sensor_data, QoSDurabilityPolicy, QoSProfile
-from robot_inspection.frame_queue import frame_change, FrameQueue, thumbnail
-from robot_inspection.vlm import (
+from pashupati_inspection.frame_queue import frame_change, FrameQueue, thumbnail
+from pashupati_inspection.vlm import (
     build_request,
     CATEGORY_HINTS,
     category_names,
@@ -27,6 +20,13 @@
     parse_descriptions,
     parse_response,
 )
+from rcl_interfaces.msg import SetParametersResult
+import rclpy
+from rclpy.callback_groups import MutuallyExclusiveCallbackGroup, ReentrantCallbackGroup
+from rclpy.executors import ExternalShutdownException, MultiThreadedExecutor
+from rclpy.node import Node
+from rclpy.parameter import Parameter
+from rclpy.qos import qos_profile_sensor_data, QoSDurabilityPolicy, QoSProfile
 from sensor_msgs.msg import CompressedImage, Image
 from std_msgs.msg import Header, String
 from std_srvs.srv import Trigger
diff --git a/src/robot_inspection/robot_inspection/frame_queue.py b/src/pashupati_inspection/pashupati_inspection/frame_queue.py
similarity index 100%
rename from src/robot_inspection/robot_inspection/frame_queue.py
rename to src/pashupati_inspection/pashupati_inspection/frame_queue.py
diff --git a/src/robot_inspection/robot_inspection/vlm.py b/src/pashupati_inspection/pashupati_inspection/vlm.py
similarity index 100%
rename from src/robot_inspection/robot_inspection/vlm.py
rename to src/pashupati_inspection/pashupati_inspection/vlm.py
diff --git a/src/robot_inspection/resource/robot_inspection b/src/pashupati_inspection/resource/pashupati_inspection
similarity index 100%
rename from src/robot_inspection/resource/robot_inspection
rename to src/pashupati_inspection/resource/pashupati_inspection
diff --git a/src/pashupati_inspection/setup.cfg b/src/pashupati_inspection/setup.cfg
new file mode 100644
index 0000000..fc8e015
--- /dev/null
+++ b/src/pashupati_inspection/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/pashupati_inspection
+[install]
+install_scripts=$base/lib/pashupati_inspection
diff --git a/src/robot_inspection/setup.py b/src/pashupati_inspection/setup.py
similarity index 87%
rename from src/robot_inspection/setup.py
rename to src/pashupati_inspection/setup.py
index 447d56f..e869183 100644
--- a/src/robot_inspection/setup.py
+++ b/src/pashupati_inspection/setup.py
@@ -3,7 +3,7 @@
 
 from setuptools import find_packages, setup
 
-package_name = 'robot_inspection'
+package_name = 'pashupati_inspection'
 
 setup(
     name=package_name,
@@ -24,7 +24,7 @@
     license='Apache-2.0',
     entry_points={
         'console_scripts': [
-            'anomaly_detector_node = robot_inspection.anomaly_detector_node:main',
+            'anomaly_detector_node = pashupati_inspection.anomaly_detector_node:main',
         ],
     },
 )
diff --git a/src/robot_inspection/test/test_copyright.py b/src/pashupati_inspection/test/test_copyright.py
similarity index 100%
rename from src/robot_inspection/test/test_copyright.py
rename to src/pashupati_inspection/test/test_copyright.py
diff --git a/src/robot_inspection/test/test_detector_node.py b/src/pashupati_inspection/test/test_detector_node.py
similarity index 99%
rename from src/robot_inspection/test/test_detector_node.py
rename to src/pashupati_inspection/test/test_detector_node.py
index b8960ea..39fb5b1 100644
--- a/src/robot_inspection/test/test_detector_node.py
+++ b/src/pashupati_inspection/test/test_detector_node.py
@@ -15,7 +15,7 @@
 Image = pytest.importorskip('sensor_msgs.msg').Image
 Trigger = pytest.importorskip('std_srvs.srv').Trigger
 AnomalyDetectorNode = pytest.importorskip(
-    'robot_inspection.anomaly_detector_node'
+    'pashupati_inspection.anomaly_detector_node'
 ).AnomalyDetectorNode
 
 # model -> capabilities; llama3 cannot see images
diff --git a/src/robot_inspection/test/test_flake8.py b/src/pashupati_inspection/test/test_flake8.py
similarity index 100%
rename from src/robot_inspection/test/test_flake8.py
rename to src/pashupati_inspection/test/test_flake8.py
diff --git a/src/robot_inspection/test/test_frame_queue.py b/src/pashupati_inspection/test/test_frame_queue.py
similarity index 97%
rename from src/robot_inspection/test/test_frame_queue.py
rename to src/pashupati_inspection/test/test_frame_queue.py
index 451a866..746b5b7 100644
--- a/src/robot_inspection/test/test_frame_queue.py
+++ b/src/pashupati_inspection/test/test_frame_queue.py
@@ -1,8 +1,8 @@
 """The inspection queue: first in first out, bounded, kept across restarts."""
 
 import numpy as np
+from pashupati_inspection.frame_queue import frame_change, FrameQueue, thumbnail
 import pytest
-from robot_inspection.frame_queue import frame_change, FrameQueue, thumbnail
 
 
 @pytest.fixture(params=['disk', 'memory'])
diff --git a/src/robot_inspection/test/test_node_members.py b/src/pashupati_inspection/test/test_node_members.py
similarity index 100%
rename from src/robot_inspection/test/test_node_members.py
rename to src/pashupati_inspection/test/test_node_members.py
diff --git a/src/robot_inspection/test/test_pep257.py b/src/pashupati_inspection/test/test_pep257.py
similarity index 100%
rename from src/robot_inspection/test/test_pep257.py
rename to src/pashupati_inspection/test/test_pep257.py
diff --git a/src/robot_inspection/test/test_vlm.py b/src/pashupati_inspection/test/test_vlm.py
similarity index 99%
rename from src/robot_inspection/test/test_vlm.py
rename to src/pashupati_inspection/test/test_vlm.py
index 6838b58..905db34 100644
--- a/src/robot_inspection/test/test_vlm.py
+++ b/src/pashupati_inspection/test/test_vlm.py
@@ -1,7 +1,6 @@
 import json
 
-import pytest
-from robot_inspection.vlm import (
+from pashupati_inspection.vlm import (
     build_prompt,
     build_request,
     build_schema,
@@ -11,6 +10,7 @@
     parse_descriptions,
     parse_response,
 )
+import pytest
 
 CATS = ['trash', 'spill', 'stain']
 
diff --git a/src/robot_rviz/CMakeLists.txt b/src/pashupati_rviz/CMakeLists.txt
similarity index 86%
rename from src/robot_rviz/CMakeLists.txt
rename to src/pashupati_rviz/CMakeLists.txt
index 3469bc4..09a4a29 100644
--- a/src/robot_rviz/CMakeLists.txt
+++ b/src/pashupati_rviz/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(robot_rviz)
+project(pashupati_rviz)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 17)
@@ -29,12 +29,12 @@ add_library(${PROJECT_NAME} SHARED
   src/tuning_panel.cpp
   src/tag_panel.cpp
   src/cmd_vel_widget.cpp
-  include/robot_rviz/ros_panel.hpp
-  include/robot_rviz/control_panel.hpp
-  include/robot_rviz/status_panel.hpp
-  include/robot_rviz/tuning_panel.hpp
-  include/robot_rviz/tag_panel.hpp
-  include/robot_rviz/cmd_vel_widget.hpp
+  include/pashupati_rviz/ros_panel.hpp
+  include/pashupati_rviz/control_panel.hpp
+  include/pashupati_rviz/status_panel.hpp
+  include/pashupati_rviz/tuning_panel.hpp
+  include/pashupati_rviz/tag_panel.hpp
+  include/pashupati_rviz/cmd_vel_widget.hpp
 )
 
 target_include_directories(${PROJECT_NAME} PUBLIC
diff --git a/src/robot_rviz/README.md b/src/pashupati_rviz/README.md
similarity index 97%
rename from src/robot_rviz/README.md
rename to src/pashupati_rviz/README.md
index 7ff5425..96ad9c5 100644
--- a/src/robot_rviz/README.md
+++ b/src/pashupati_rviz/README.md
@@ -1,4 +1,4 @@
-# robot_rviz
+# pashupati_rviz
 
 RViz panels, each addable from **Panels → Add New Panel**:
 
diff --git a/src/robot_rviz/include/robot_rviz/cmd_vel_widget.hpp b/src/pashupati_rviz/include/pashupati_rviz/cmd_vel_widget.hpp
similarity index 93%
rename from src/robot_rviz/include/robot_rviz/cmd_vel_widget.hpp
rename to src/pashupati_rviz/include/pashupati_rviz/cmd_vel_widget.hpp
index acb95b9..075037b 100644
--- a/src/robot_rviz/include/robot_rviz/cmd_vel_widget.hpp
+++ b/src/pashupati_rviz/include/pashupati_rviz/cmd_vel_widget.hpp
@@ -2,7 +2,7 @@
 
 #include <QWidget>
 
-namespace robot_rviz
+namespace pashupati_rviz
 {
 // Compact radar-style readout for a Twist: linear.x/y as a dot position,
 // angular.z as an arc. Purely a dumb display widget -- feed it values via
@@ -30,5 +30,5 @@ class CmdVelWidget : public QWidget
   double max_angular_ = 2.0;  // rad/s
 };
 
-}  // namespace robot_rviz
+}  // namespace pashupati_rviz
 
diff --git a/src/robot_rviz/include/robot_rviz/control_panel.hpp b/src/pashupati_rviz/include/pashupati_rviz/control_panel.hpp
similarity index 96%
rename from src/robot_rviz/include/robot_rviz/control_panel.hpp
rename to src/pashupati_rviz/include/pashupati_rviz/control_panel.hpp
index b0ce648..cf1bc6e 100644
--- a/src/robot_rviz/include/robot_rviz/control_panel.hpp
+++ b/src/pashupati_rviz/include/pashupati_rviz/control_panel.hpp
@@ -16,9 +16,9 @@
 #include <std_srvs/srv/set_bool.hpp>
 #include <std_srvs/srv/trigger.hpp>
 
-#include "robot_rviz/ros_panel.hpp"
+#include "pashupati_rviz/ros_panel.hpp"
 
-namespace robot_rviz
+namespace pashupati_rviz
 {
 
 /// Mission panel: localization, route recording, route loading, start/stop/pause navigation.
@@ -81,4 +81,4 @@ private Q_SLOTS:
   rclcpp::Subscription<dharma_interfaces::msg::MissionStatus>::SharedPtr mission_status_sub_;
 };
 
-}  // namespace robot_rviz
+}  // namespace pashupati_rviz
diff --git a/src/robot_rviz/include/robot_rviz/ros_panel.hpp b/src/pashupati_rviz/include/pashupati_rviz/ros_panel.hpp
similarity index 95%
rename from src/robot_rviz/include/robot_rviz/ros_panel.hpp
rename to src/pashupati_rviz/include/pashupati_rviz/ros_panel.hpp
index bd0efa2..3da82d5 100644
--- a/src/robot_rviz/include/robot_rviz/ros_panel.hpp
+++ b/src/pashupati_rviz/include/pashupati_rviz/ros_panel.hpp
@@ -10,7 +10,7 @@
 #include <rclcpp/rclcpp.hpp>
 #include <rviz_common/panel.hpp>
 
-namespace robot_rviz
+namespace pashupati_rviz
 {
 
 /// Base panel: owns a small rclcpp node pumped from the Qt event loop and shared styling.
@@ -46,4 +46,4 @@ private Q_SLOTS:
   QTimer * spin_timer_{nullptr};
 };
 
-}  // namespace robot_rviz
+}  // namespace pashupati_rviz
diff --git a/src/robot_rviz/include/robot_rviz/status_panel.hpp b/src/pashupati_rviz/include/pashupati_rviz/status_panel.hpp
similarity index 90%
rename from src/robot_rviz/include/robot_rviz/status_panel.hpp
rename to src/pashupati_rviz/include/pashupati_rviz/status_panel.hpp
index 0949625..a8670de 100644
--- a/src/robot_rviz/include/robot_rviz/status_panel.hpp
+++ b/src/pashupati_rviz/include/pashupati_rviz/status_panel.hpp
@@ -8,10 +8,10 @@
 #include <sensor_msgs/msg/battery_state.hpp>
 #include <std_msgs/msg/float32_multi_array.hpp>
 
-#include "robot_rviz/cmd_vel_widget.hpp"
-#include "robot_rviz/ros_panel.hpp"
+#include "pashupati_rviz/cmd_vel_widget.hpp"
+#include "pashupati_rviz/ros_panel.hpp"
 
-namespace robot_rviz
+namespace pashupati_rviz
 {
 
 /// Robot status panel: battery, temperatures, driver diagnostics and the commanded velocity.
@@ -45,4 +45,4 @@ class StatusPanel : public RosPanel
   rclcpp::Subscription<geometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;
 };
 
-}  // namespace robot_rviz
+}  // namespace pashupati_rviz
diff --git a/src/robot_rviz/include/robot_rviz/tag_panel.hpp b/src/pashupati_rviz/include/pashupati_rviz/tag_panel.hpp
similarity index 91%
rename from src/robot_rviz/include/robot_rviz/tag_panel.hpp
rename to src/pashupati_rviz/include/pashupati_rviz/tag_panel.hpp
index 3124de7..4cc1526 100644
--- a/src/robot_rviz/include/robot_rviz/tag_panel.hpp
+++ b/src/pashupati_rviz/include/pashupati_rviz/tag_panel.hpp
@@ -6,9 +6,9 @@
 #include <std_msgs/msg/string.hpp>
 #include <std_srvs/srv/trigger.hpp>
 
-#include "robot_rviz/ros_panel.hpp"
+#include "pashupati_rviz/ros_panel.hpp"
 
-namespace robot_rviz
+namespace pashupati_rviz
 {
 
 /// AprilTag tools: record tag poses in the map frame and localize from a visible tag.
@@ -40,4 +40,4 @@ private Q_SLOTS:
   rclcpp::Subscription<std_msgs::msg::String>::SharedPtr localization_status_sub_;
 };
 
-}  // namespace robot_rviz
+}  // namespace pashupati_rviz
diff --git a/src/robot_rviz/include/robot_rviz/tuning_panel.hpp b/src/pashupati_rviz/include/pashupati_rviz/tuning_panel.hpp
similarity index 94%
rename from src/robot_rviz/include/robot_rviz/tuning_panel.hpp
rename to src/pashupati_rviz/include/pashupati_rviz/tuning_panel.hpp
index 757dfc4..850692f 100644
--- a/src/robot_rviz/include/robot_rviz/tuning_panel.hpp
+++ b/src/pashupati_rviz/include/pashupati_rviz/tuning_panel.hpp
@@ -12,9 +12,9 @@
 #include <QPushButton>
 #include <QScrollArea>
 
-#include "robot_rviz/ros_panel.hpp"
+#include "pashupati_rviz/ros_panel.hpp"
 
-namespace robot_rviz
+namespace pashupati_rviz
 {
 
 /// Live parameter editor for navigation nodes with controller/algorithm selection and YAML export.
@@ -67,4 +67,4 @@ private Q_SLOTS:
   bool rendering_{false};
 };
 
-}  // namespace robot_rviz
+}  // namespace pashupati_rviz
diff --git a/src/robot_rviz/package.xml b/src/pashupati_rviz/package.xml
similarity index 96%
rename from src/robot_rviz/package.xml
rename to src/pashupati_rviz/package.xml
index 28dacc2..496f187 100644
--- a/src/robot_rviz/package.xml
+++ b/src/pashupati_rviz/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>robot_rviz</name>
+  <name>pashupati_rviz</name>
   <version>0.1.0</version>
   <description>Native RViz2 panel (C++/Qt) for battery monitoring, one-click localization trigger, path recording/stop-point marking, path loading, and navigate_route control.</description>
   <maintainer email="darmawandeveloper@gmail.com">Agus Darmawan</maintainer>
diff --git a/src/robot_rviz/plugin_description.xml b/src/pashupati_rviz/plugin_description.xml
similarity index 64%
rename from src/robot_rviz/plugin_description.xml
rename to src/pashupati_rviz/plugin_description.xml
index 4168bf9..a61e899 100644
--- a/src/robot_rviz/plugin_description.xml
+++ b/src/pashupati_rviz/plugin_description.xml
@@ -1,21 +1,21 @@
-<library path="robot_rviz">
-  <class name="robot_rviz/ControlPanel"
-         type="robot_rviz::ControlPanel"
+<library path="pashupati_rviz">
+  <class name="pashupati_rviz/ControlPanel"
+         type="pashupati_rviz::ControlPanel"
          base_class_type="rviz_common::Panel">
     <description>Mission: localization, route recording, route loading, start/stop/pause navigation.</description>
   </class>
-  <class name="robot_rviz/StatusPanel"
-         type="robot_rviz::StatusPanel"
+  <class name="pashupati_rviz/StatusPanel"
+         type="pashupati_rviz::StatusPanel"
          base_class_type="rviz_common::Panel">
     <description>Robot status: battery, temperatures, driver diagnostics and cmd_vel.</description>
   </class>
-  <class name="robot_rviz/TuningPanel"
-         type="robot_rviz::TuningPanel"
+  <class name="pashupati_rviz/TuningPanel"
+         type="pashupati_rviz::TuningPanel"
          base_class_type="rviz_common::Panel">
     <description>Live parameter tuning for navigation nodes, with controller/algorithm selection and YAML export.</description>
   </class>
-  <class name="robot_rviz/TagPanel"
-         type="robot_rviz::TagPanel"
+  <class name="pashupati_rviz/TagPanel"
+         type="pashupati_rviz::TagPanel"
          base_class_type="rviz_common::Panel">
     <description>AprilTag tools: record tag poses in the map frame and localize from a tag.</description>
   </class>
diff --git a/src/robot_rviz/rviz/robot.rviz b/src/pashupati_rviz/rviz/robot.rviz
similarity index 96%
rename from src/robot_rviz/rviz/robot.rviz
rename to src/pashupati_rviz/rviz/robot.rviz
index dfa09a4..49529bb 100644
--- a/src/robot_rviz/rviz/robot.rviz
+++ b/src/pashupati_rviz/rviz/robot.rviz
@@ -17,21 +17,21 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
-  - Class: robot_rviz/ControlPanel
+  - Class: pashupati_rviz/ControlPanel
     Name: Mission
-  - Class: robot_rviz/StatusPanel
+  - Class: pashupati_rviz/StatusPanel
     Name: Status
-  - Class: robot_rviz/TuningPanel
+  - Class: pashupati_rviz/TuningPanel
     Name: Tuning
-  - Class: robot_rviz/ControlPanel
+  - Class: pashupati_rviz/ControlPanel
     Name: ControlPanel
-  - Class: robot_rviz/StatusPanel
+  - Class: pashupati_rviz/StatusPanel
     Name: StatusPanel
-  - Class: robot_rviz/TuningPanel
+  - Class: pashupati_rviz/TuningPanel
     Name: TuningPanel
-  - Class: robot_rviz/TagPanel
+  - Class: pashupati_rviz/TagPanel
     Name: TagPanel
-  - Class: robot_rviz/StatusPanel
+  - Class: pashupati_rviz/StatusPanel
     Name: StatusPanel
 Visualization Manager:
   Class: ""
diff --git a/src/robot_rviz/src/cmd_vel_widget.cpp b/src/pashupati_rviz/src/cmd_vel_widget.cpp
similarity index 96%
rename from src/robot_rviz/src/cmd_vel_widget.cpp
rename to src/pashupati_rviz/src/cmd_vel_widget.cpp
index 1627671..05bffa1 100644
--- a/src/robot_rviz/src/cmd_vel_widget.cpp
+++ b/src/pashupati_rviz/src/cmd_vel_widget.cpp
@@ -1,4 +1,4 @@
-#include "robot_rviz/cmd_vel_widget.hpp"
+#include "pashupati_rviz/cmd_vel_widget.hpp"
 
 #include <QPainter>
 #include <QPaintEvent>
@@ -6,7 +6,7 @@
 #include <algorithm>
 #include <cmath>
 
-namespace robot_rviz
+namespace pashupati_rviz
 {
 
 CmdVelWidget::CmdVelWidget(QWidget * parent)
diff --git a/src/robot_rviz/src/control_panel.cpp b/src/pashupati_rviz/src/control_panel.cpp
similarity index 98%
rename from src/robot_rviz/src/control_panel.cpp
rename to src/pashupati_rviz/src/control_panel.cpp
index 6a7fcf6..84612a9 100644
--- a/src/robot_rviz/src/control_panel.cpp
+++ b/src/pashupati_rviz/src/control_panel.cpp
@@ -1,4 +1,4 @@
-#include "robot_rviz/control_panel.hpp"
+#include "pashupati_rviz/control_panel.hpp"
 
 #include <QFileDialog>
 #include <QHBoxLayout>
@@ -6,7 +6,7 @@
 
 #include <pluginlib/class_list_macros.hpp>
 
-namespace robot_rviz
+namespace pashupati_rviz
 {
 
 ControlPanel::ControlPanel(QWidget * parent)
@@ -256,6 +256,6 @@ void ControlPanel::localizationStatusCallback(const std_msgs::msg::String::Share
     localized ? "#88ff88" : "#ffcc00");
 }
 
-}  // namespace robot_rviz
+}  // namespace pashupati_rviz
 
-PLUGINLIB_EXPORT_CLASS(robot_rviz::ControlPanel, rviz_common::Panel)
+PLUGINLIB_EXPORT_CLASS(pashupati_rviz::ControlPanel, rviz_common::Panel)
diff --git a/src/robot_rviz/src/ros_panel.cpp b/src/pashupati_rviz/src/ros_panel.cpp
similarity index 93%
rename from src/robot_rviz/src/ros_panel.cpp
rename to src/pashupati_rviz/src/ros_panel.cpp
index 358c610..1fefaf4 100644
--- a/src/robot_rviz/src/ros_panel.cpp
+++ b/src/pashupati_rviz/src/ros_panel.cpp
@@ -1,6 +1,6 @@
-#include "robot_rviz/ros_panel.hpp"
+#include "pashupati_rviz/ros_panel.hpp"
 
-namespace robot_rviz
+namespace pashupati_rviz
 {
 
 RosPanel::RosPanel(const std::string & node_name, int max_width, QWidget * parent)
@@ -47,4 +47,4 @@ QGroupBox * RosPanel::makeGroup(const QString & title, QLayout * layout)
   return group;
 }
 
-}  // namespace robot_rviz
+}  // namespace pashupati_rviz
diff --git a/src/robot_rviz/src/status_panel.cpp b/src/pashupati_rviz/src/status_panel.cpp
similarity index 96%
rename from src/robot_rviz/src/status_panel.cpp
rename to src/pashupati_rviz/src/status_panel.cpp
index 16447a3..d219303 100644
--- a/src/robot_rviz/src/status_panel.cpp
+++ b/src/pashupati_rviz/src/status_panel.cpp
@@ -1,4 +1,4 @@
-#include "robot_rviz/status_panel.hpp"
+#include "pashupati_rviz/status_panel.hpp"
 
 #include <algorithm>
 #include <cmath>
@@ -9,7 +9,7 @@
 
 #include <pluginlib/class_list_macros.hpp>
 
-namespace robot_rviz
+namespace pashupati_rviz
 {
 
 namespace
@@ -138,6 +138,6 @@ void StatusPanel::cmdVelCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
     .arg(msg->angular.z, 0, 'f', 2));
 }
 
-}  // namespace robot_rviz
+}  // namespace pashupati_rviz
 
-PLUGINLIB_EXPORT_CLASS(robot_rviz::StatusPanel, rviz_common::Panel)
+PLUGINLIB_EXPORT_CLASS(pashupati_rviz::StatusPanel, rviz_common::Panel)
diff --git a/src/robot_rviz/src/tag_panel.cpp b/src/pashupati_rviz/src/tag_panel.cpp
similarity index 94%
rename from src/robot_rviz/src/tag_panel.cpp
rename to src/pashupati_rviz/src/tag_panel.cpp
index a120dcf..427b7f3 100644
--- a/src/robot_rviz/src/tag_panel.cpp
+++ b/src/pashupati_rviz/src/tag_panel.cpp
@@ -1,10 +1,10 @@
-#include "robot_rviz/tag_panel.hpp"
+#include "pashupati_rviz/tag_panel.hpp"
 
 #include <QVBoxLayout>
 
 #include <pluginlib/class_list_macros.hpp>
 
-namespace robot_rviz
+namespace pashupati_rviz
 {
 
 TagPanel::TagPanel(QWidget * parent)
@@ -81,6 +81,6 @@ void TagPanel::callTrigger(
     });
 }
 
-}  // namespace robot_rviz
+}  // namespace pashupati_rviz
 
-PLUGINLIB_EXPORT_CLASS(robot_rviz::TagPanel, rviz_common::Panel)
+PLUGINLIB_EXPORT_CLASS(pashupati_rviz::TagPanel, rviz_common::Panel)
diff --git a/src/robot_rviz/src/tuning_panel.cpp b/src/pashupati_rviz/src/tuning_panel.cpp
similarity index 98%
rename from src/robot_rviz/src/tuning_panel.cpp
rename to src/pashupati_rviz/src/tuning_panel.cpp
index ee01095..ea181a2 100644
--- a/src/robot_rviz/src/tuning_panel.cpp
+++ b/src/pashupati_rviz/src/tuning_panel.cpp
@@ -1,4 +1,4 @@
-#include "robot_rviz/tuning_panel.hpp"
+#include "pashupati_rviz/tuning_panel.hpp"
 
 #include <chrono>
 #include <cmath>
@@ -17,7 +17,7 @@
 
 #include <pluginlib/class_list_macros.hpp>
 
-namespace robot_rviz
+namespace pashupati_rviz
 {
 
 namespace
@@ -443,6 +443,6 @@ void TuningPanel::onSaveYaml()
     out.good() ? "#88ff88" : "#ff8888");
 }
 
-}  // namespace robot_rviz
+}  // namespace pashupati_rviz
 
-PLUGINLIB_EXPORT_CLASS(robot_rviz::TuningPanel, rviz_common::Panel)
+PLUGINLIB_EXPORT_CLASS(pashupati_rviz::TuningPanel, rviz_common::Panel)
diff --git a/src/robot_sim/README.md b/src/pashupati_sim/README.md
similarity index 96%
rename from src/robot_sim/README.md
rename to src/pashupati_sim/README.md
index cf9db68..7f41a9d 100644
--- a/src/robot_sim/README.md
+++ b/src/pashupati_sim/README.md
@@ -1,4 +1,4 @@
-# robot_sim
+# pashupati_sim
 
 Software-in-the-loop quadruped. The production stack runs unchanged against a simulated robot:
 localization, perception, navigation, the control mux with its protective field and e-stop, the
@@ -6,7 +6,7 @@ teleop gateway, the NETRA uplink and the health monitor. It needs no Gazebo and
 node holds a 2D world, a kinematic body and a ray-cast LiDAR.
 
 ```bash
-ros2 launch robot_sim sim.launch.py autostart:=true rviz:=true
+ros2 launch pashupati_sim sim.launch.py autostart:=true rviz:=true
 ```
 
 The robot localizes itself and patrols a loop around a block of shops with one inspection stop.
@@ -34,7 +34,7 @@ routes, the spool and the route state to `/tmp/pashupati_sim`.
 | `world` | `config/worlds/mall_loop.yaml` | walls, pillars, start pose |
 | `route` | `config/routes/mall_loop.csv` | route CSV, as on the robot |
 | `autostart` | `false` | start the patrol once localized; otherwise `navigation/start_nav` |
-| `rviz` | `false` | RViz with the `robot_rviz` panels |
+| `rviz` | `false` | RViz with the `pashupati_rviz` panels |
 | `cc_url`, `cc_token` | empty | report to NETRA as `sim-01` |
 | `robot_ns` | `robot` | driver namespace |
 
diff --git a/src/robot_sim/config/routes/mall_loop.csv b/src/pashupati_sim/config/routes/mall_loop.csv
similarity index 100%
rename from src/robot_sim/config/routes/mall_loop.csv
rename to src/pashupati_sim/config/routes/mall_loop.csv
diff --git a/src/robot_sim/config/sim_site.yaml b/src/pashupati_sim/config/sim_site.yaml
similarity index 90%
rename from src/robot_sim/config/sim_site.yaml
rename to src/pashupati_sim/config/sim_site.yaml
index 6e50bad..bec8faf 100644
--- a/src/robot_sim/config/sim_site.yaml
+++ b/src/pashupati_sim/config/sim_site.yaml
@@ -1,4 +1,4 @@
-# Site configuration for the simulator (robot_sim/sim.launch.py): the stack reads the simulated
+# Site configuration for the simulator (pashupati_sim/sim.launch.py): the stack reads the simulated
 # body-frame cloud, writes nothing into the real map/ or ~/.pashupati, and asks the simulator
 # instead of the VLM to inspect at stop points.
 control_mux_node:
@@ -12,7 +12,7 @@ lidar_sector_node:
 
 localization_node:
   ros__parameters:
-    auto_localize_on_start: false     # no AprilTags in the sim: robot_sim sends /initialpose
+    auto_localize_on_start: false     # no AprilTags in the sim: pashupati_sim sends /initialpose
 
 path_loader_node:
   ros__parameters:
diff --git a/src/robot_sim/config/worlds/mall_loop.yaml b/src/pashupati_sim/config/worlds/mall_loop.yaml
similarity index 100%
rename from src/robot_sim/config/worlds/mall_loop.yaml
rename to src/pashupati_sim/config/worlds/mall_loop.yaml
diff --git a/src/robot_sim/launch/sim.launch.py b/src/pashupati_sim/launch/sim.launch.py
similarity index 88%
rename from src/robot_sim/launch/sim.launch.py
rename to src/pashupati_sim/launch/sim.launch.py
index 8c2001a..b90bb20 100644
--- a/src/robot_sim/launch/sim.launch.py
+++ b/src/pashupati_sim/launch/sim.launch.py
@@ -2,9 +2,9 @@
 """
 The whole Pashupati stack on a simulated quadruped, no robot needed.
 
-    ros2 launch robot_sim sim.launch.py                    # localizes itself, waits for start_nav
-    ros2 launch robot_sim sim.launch.py autostart:=true    # patrols right away
-    ros2 launch robot_sim sim.launch.py rviz:=true         # with the RViz panels
+    ros2 launch pashupati_sim sim.launch.py                  # localizes, waits for start_nav
+    ros2 launch pashupati_sim sim.launch.py autostart:=true  # patrols right away
+    ros2 launch pashupati_sim sim.launch.py rviz:=true       # with the RViz panels
 
 Drop an obstacle on the route:
     ros2 topic pub --once /sim/obstacles geometry_msgs/msg/PoseArray \
@@ -24,10 +24,10 @@
 def launch_setup(context):
     """Start the simulator, the robot stack in simulation mode and optionally RViz."""
     arg = lambda name: LaunchConfiguration(name).perform(context)  # noqa: E731
-    share = get_package_share_directory('robot_sim')
+    share = get_package_share_directory('pashupati_sim')
     actions = [
         Node(
-            package='robot_sim',
+            package='pashupati_sim',
             executable='sim_robot_node',
             name='sim_robot_node',
             output='screen',
@@ -64,7 +64,7 @@ def launch_setup(context):
     if arg('rviz').lower() == 'true':
         try:
             config = os.path.join(
-                get_package_share_directory('robot_rviz'), 'rviz', 'robot.rviz'
+                get_package_share_directory('pashupati_rviz'), 'rviz', 'robot.rviz'
             )
         except PackageNotFoundError:
             config = ''
@@ -85,7 +85,7 @@ def launch_setup(context):
 
 def generate_launch_description():
     """Declare the simulation arguments."""
-    share = get_package_share_directory('robot_sim')
+    share = get_package_share_directory('pashupati_sim')
     return LaunchDescription(
         [
             DeclareLaunchArgument(
diff --git a/src/robot_sim/package.xml b/src/pashupati_sim/package.xml
similarity index 97%
rename from src/robot_sim/package.xml
rename to src/pashupati_sim/package.xml
index 928d739..ad6edcd 100644
--- a/src/robot_sim/package.xml
+++ b/src/pashupati_sim/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>robot_sim</name>
+  <name>pashupati_sim</name>
   <version>0.3.0</version>
   <description>Software-in-the-loop simulator: a kinematic quadruped with a ray-cast Mid-360 in a 2D world that stands in for the robot driver, the LiDAR and FAST-LIO, so the whole Pashupati stack runs and is tested without a robot.</description>
   <maintainer email="darmawandeveloper@gmail.com">Agus Darmawan</maintainer>
diff --git a/src/robot_sim/robot_sim/__init__.py b/src/pashupati_sim/pashupati_sim/__init__.py
similarity index 100%
rename from src/robot_sim/robot_sim/__init__.py
rename to src/pashupati_sim/pashupati_sim/__init__.py
diff --git a/src/robot_sim/robot_sim/sim_robot_node.py b/src/pashupati_sim/pashupati_sim/sim_robot_node.py
similarity index 99%
rename from src/robot_sim/robot_sim/sim_robot_node.py
rename to src/pashupati_sim/pashupati_sim/sim_robot_node.py
index f7c739b..54e8362 100644
--- a/src/robot_sim/robot_sim/sim_robot_node.py
+++ b/src/pashupati_sim/pashupati_sim/sim_robot_node.py
@@ -21,11 +21,11 @@
 )
 from nav_msgs.msg import Odometry
 import numpy as np
+from pashupati_sim.world import Body, lio_pose, scan_points, World
 import rclpy
 from rclpy.executors import ExternalShutdownException
 from rclpy.node import Node
 from rclpy.qos import QoSDurabilityPolicy, QoSProfile
-from robot_sim.world import Body, lio_pose, scan_points, World
 from sensor_msgs.msg import BatteryState, PointCloud2, PointField
 from std_msgs.msg import String
 from std_srvs.srv import SetBool, Trigger
diff --git a/src/robot_sim/robot_sim/world.py b/src/pashupati_sim/pashupati_sim/world.py
similarity index 100%
rename from src/robot_sim/robot_sim/world.py
rename to src/pashupati_sim/pashupati_sim/world.py
diff --git a/src/robot_sim/resource/robot_sim b/src/pashupati_sim/resource/pashupati_sim
similarity index 100%
rename from src/robot_sim/resource/robot_sim
rename to src/pashupati_sim/resource/pashupati_sim
diff --git a/src/pashupati_sim/setup.cfg b/src/pashupati_sim/setup.cfg
new file mode 100644
index 0000000..6996012
--- /dev/null
+++ b/src/pashupati_sim/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/pashupati_sim
+[install]
+install_scripts=$base/lib/pashupati_sim
diff --git a/src/robot_sim/setup.py b/src/pashupati_sim/setup.py
similarity index 91%
rename from src/robot_sim/setup.py
rename to src/pashupati_sim/setup.py
index 2b6991c..148479c 100644
--- a/src/robot_sim/setup.py
+++ b/src/pashupati_sim/setup.py
@@ -3,7 +3,7 @@
 
 from setuptools import find_packages, setup
 
-package_name = 'robot_sim'
+package_name = 'pashupati_sim'
 
 setup(
     name=package_name,
@@ -30,7 +30,7 @@
     },
     entry_points={
         'console_scripts': [
-            'sim_robot_node = robot_sim.sim_robot_node:main',
+            'sim_robot_node = pashupati_sim.sim_robot_node:main',
         ],
     },
 )
diff --git a/src/robot_sim/test/test_copyright.py b/src/pashupati_sim/test/test_copyright.py
similarity index 100%
rename from src/robot_sim/test/test_copyright.py
rename to src/pashupati_sim/test/test_copyright.py
diff --git a/src/robot_sim/test/test_flake8.py b/src/pashupati_sim/test/test_flake8.py
similarity index 100%
rename from src/robot_sim/test/test_flake8.py
rename to src/pashupati_sim/test/test_flake8.py
diff --git a/src/robot_sim/test/test_node_members.py b/src/pashupati_sim/test/test_node_members.py
similarity index 100%
rename from src/robot_sim/test/test_node_members.py
rename to src/pashupati_sim/test/test_node_members.py
diff --git a/src/robot_sim/test/test_pep257.py b/src/pashupati_sim/test/test_pep257.py
similarity index 100%
rename from src/robot_sim/test/test_pep257.py
rename to src/pashupati_sim/test/test_pep257.py
diff --git a/src/robot_sim/test/test_sim_patrol.py b/src/pashupati_sim/test/test_sim_patrol.py
similarity index 94%
rename from src/robot_sim/test/test_sim_patrol.py
rename to src/pashupati_sim/test/test_sim_patrol.py
index 5b1b078..329ecc4 100644
--- a/src/robot_sim/test/test_sim_patrol.py
+++ b/src/pashupati_sim/test/test_sim_patrol.py
@@ -1,11 +1,11 @@
 """
 End to end: the whole stack patrols the simulated mall.
 
-Starts `ros2 launch robot_sim sim.launch.py autostart:=true` (needs the workspace installed, as in
-`colcon test`). A person steps onto the route: the robot slides around them without touching them
-or straying far, and completes the inspection stop. A crowd blocks the corridor: it stops short
-and drives on once they are gone. Then the handheld drives straight at a person, where only the
-protective field stands in the way. Finally no node may have died or printed a traceback. Set
+Starts `ros2 launch pashupati_sim sim.launch.py autostart:=true` (needs the workspace installed, as
+in `colcon test`). A person steps onto the route: the robot slides around them without touching
+them or straying far, and completes the inspection stop. A crowd blocks the corridor: it stops
+short and drives on once they are gone. Then the handheld drives straight at a person, where only
+the protective field stands in the way. Finally no node may have died or printed a traceback. Set
 PASHUPATI_SKIP_SIM=1 to skip it.
 """
 
@@ -132,7 +132,7 @@ def sim():
     log = tempfile.NamedTemporaryFile('w+', prefix='pashupati_sim_', suffix='.log', delete=False)
     env = dict(os.environ, ROS_DOMAIN_ID=str(DOMAIN))
     proc = subprocess.Popen(
-        ['ros2', 'launch', 'robot_sim', 'sim.launch.py', 'autostart:=true'],
+        ['ros2', 'launch', 'pashupati_sim', 'sim.launch.py', 'autostart:=true'],
         env=env,
         stdin=subprocess.DEVNULL,  # non-interactive: launch itself stops every node, like systemd
         stdout=log,
diff --git a/src/robot_sim/test/test_world.py b/src/pashupati_sim/test/test_world.py
similarity index 97%
rename from src/robot_sim/test/test_world.py
rename to src/pashupati_sim/test/test_world.py
index 61d213e..ab2e58e 100644
--- a/src/robot_sim/test/test_world.py
+++ b/src/pashupati_sim/test/test_world.py
@@ -1,7 +1,7 @@
 import math
 
 import numpy as np
-from robot_sim.world import Body, cast_rays, lio_pose, scan_points, World
+from pashupati_sim.world import Body, cast_rays, lio_pose, scan_points, World
 
 BOX = World(
     segments=np.array([[-2, -2, 2, -2], [2, -2, 2, 2], [2, 2, -2, 2], [-2, 2, -2, -2]], float),
diff --git a/src/robot_bridge/setup.cfg b/src/robot_bridge/setup.cfg
deleted file mode 100644
index 3d92322..0000000
--- a/src/robot_bridge/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/robot_bridge
-[install]
-install_scripts=$base/lib/robot_bridge
diff --git a/src/robot_fleet/setup.cfg b/src/robot_fleet/setup.cfg
deleted file mode 100644
index 6876f67..0000000
--- a/src/robot_fleet/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/robot_fleet
-[install]
-install_scripts=$base/lib/robot_fleet
diff --git a/src/robot_health/setup.cfg b/src/robot_health/setup.cfg
deleted file mode 100644
index ddf3ca9..0000000
--- a/src/robot_health/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/robot_health
-[install]
-install_scripts=$base/lib/robot_health
diff --git a/src/robot_inspection/setup.cfg b/src/robot_inspection/setup.cfg
deleted file mode 100644
index dd288f9..0000000
--- a/src/robot_inspection/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/robot_inspection
-[install]
-install_scripts=$base/lib/robot_inspection
diff --git a/src/robot_sim/setup.cfg b/src/robot_sim/setup.cfg
deleted file mode 100644
index 24eb6e2..0000000
--- a/src/robot_sim/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/robot_sim
-[install]
-install_scripts=$base/lib/robot_sim