diff --git a/src/custom_interfaces/CMakeLists.txt b/src/custom_interfaces/CMakeLists.txt
deleted file mode 100644
index fc551d6..0000000
--- a/src/custom_interfaces/CMakeLists.txt
+++ /dev/null
@@ -1,64 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(custom_interfaces)
-
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
- set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
- set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(builtin_interfaces REQUIRED)
-
-
-
-
-
-
-# -->
-# ADD THESE LINES: START HERE
-
-find_package(rosidl_default_generators REQUIRED)
-find_package(rclcpp REQUIRED)
-
-# CUSTOM LINES: CHANGE FOR YOUR FILENAMES
-rosidl_generate_interfaces(${PROJECT_NAME}
- "msg/CustomMsg1.msg"
- "msg/CustomMsg2.msg"
- "srv/CustomSrv1.srv"
- "srv/StateMachineSrv.srv"
- DEPENDENCIES builtin_interfaces
- )
-
-# END HERE
-# <--
-
-
-
-
-
-
-
-
-if(BUILD_TESTING)
- find_package(ament_lint_auto REQUIRED)
- # the following line skips the linter which checks for copyrights
- # uncomment the line when a copyright and license is not present in all source files
- #set(ament_cmake_copyright_FOUND TRUE)
- # the following line skips cpplint (only works in a git repo)
- # uncomment the line when this package is not in a git repo
- #set(ament_cmake_cpplint_FOUND TRUE)
- ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/src/custom_interfaces/Readme.md b/src/custom_interfaces/Readme.md
deleted file mode 100644
index 2e8883f..0000000
--- a/src/custom_interfaces/Readme.md
+++ /dev/null
@@ -1,40 +0,0 @@
-Use this ROS2 package to create custom interfaces, eg. topic (*.msg) and/or service (*.srv) files.
-This package must only be used for interface files and __no__ Python scripts.
-
-The following steps describe how to create a new custom topic or service.
-
-## 1. Create new interface file
-Topic *.msg files got into `msg` directory,
-Service *.srv files got into `srv` directory.
-
-Create these files according to the example on this [instructions page](https://docs.ros.org/en/foxy/Tutorials/Writing-A-Simple-Py-Service-And-Client.html).
-
-## 2. CMakeLists.txt
-Edit the `CMakeLists.txt` file by adding the newly created *.msg or *.srv files to this part:
-```cmake
-rosidl_generate_interfaces(${PROJECT_NAME}
- "msg/CustomMsg1.msg"
- "msg/CustomMsg2.msg"
- "srv/CustomSrv1.srv"
- DEPENDENCIES builtin_interfaces
- )
-```
-
-## 3. Build colcon workspace
-Move back to the root of your _colcon_ workspace and rebuild it: `colcon build --symlink-install`
-It should build without any errors. If you encounter errors fix these before continuing.
-
-After a successful build you must __close and reopen all terminals__ in order to source the newly built workspace. For this to happen you must have edited _.bashrc_ and added your current workspace (`sudo nano ~/.bashrc` and follow [this example](https://egit.irs.uni-stuttgart.de/RoverLehre/ROS2_pubsub/src/branch/master/non-ros-files/bashrc_overlay.bash)).
-
-## 4. Import interfaces
-Import the newly created interfaces into the Python scripts. These scripts must be located in _Python packages_ inside the same workspace (or another _sourced_ workspace):
-* Topics:
-```python
-from custom_interfaces.msg import CustomMsg1
-```
-
-* Services:
-```python
-from custom_interfaces.srv import CustomSrv1
-```
-Now you can work with your custom interface in order to exchange custom information between nodes.
diff --git a/src/custom_interfaces/msg/CustomMsg1.msg b/src/custom_interfaces/msg/CustomMsg1.msg
deleted file mode 100644
index 66a846b..0000000
--- a/src/custom_interfaces/msg/CustomMsg1.msg
+++ /dev/null
@@ -1,8 +0,0 @@
-# Header data, eg timestamp
-# Problem: "header__struct.hpp: No such file or directory"
-#Header header
-
-# Sensor Data coming back from an array of atmospheric sensors
-float32[] temperature
-float32[] pressure
-float32[] humidity
diff --git a/src/custom_interfaces/msg/CustomMsg2.msg b/src/custom_interfaces/msg/CustomMsg2.msg
deleted file mode 100644
index 2e9603d..0000000
--- a/src/custom_interfaces/msg/CustomMsg2.msg
+++ /dev/null
@@ -1,7 +0,0 @@
-# Header data, eg timestamp
-# Problem: "header__struct.hpp: No such file or directory"
-#Header header
-
-# User inputs, eg. for controlling a camera mast , eg. set angles [rad]
-float32 pitch_ctrl
-float32 yaw_ctrl
diff --git a/src/custom_interfaces/package.xml b/src/custom_interfaces/package.xml
deleted file mode 100644
index 8c22c2a..0000000
--- a/src/custom_interfaces/package.xml
+++ /dev/null
@@ -1,42 +0,0 @@
-
-
-
- custom_interfaces
- 0.0.0
- TODO: Package description
- rosmobile
- TODO: License declaration
-
- ament_cmake
- ament_lint_auto
- ament_lint_common
-
-
-
-
-
- builtin_interfaces
- rosidl_default_generators
-
- builtin_interfaces
- rosidl_default_runtime
-
- rosidl_interface_packages
-
-
-
-
-
-
-
- std_msgs
-
-
-
- ament_lint_auto
- ament_lint_common
-
-
- ament_cmake
-
-
diff --git a/src/custom_interfaces/srv/CustomSrv1.srv b/src/custom_interfaces/srv/CustomSrv1.srv
deleted file mode 100644
index 2a0fa0e..0000000
--- a/src/custom_interfaces/srv/CustomSrv1.srv
+++ /dev/null
@@ -1,3 +0,0 @@
-string command
----
-bool success
diff --git a/src/custom_interfaces/srv/StateMachineSrv.srv b/src/custom_interfaces/srv/StateMachineSrv.srv
deleted file mode 100644
index 608f8b5..0000000
--- a/src/custom_interfaces/srv/StateMachineSrv.srv
+++ /dev/null
@@ -1,4 +0,0 @@
-string command
-float32 value
----
-bool success
diff --git a/src/pubsub/package.xml b/src/pubsub/package.xml
index 1d20916..5ff1f3a 100644
--- a/src/pubsub/package.xml
+++ b/src/pubsub/package.xml
@@ -15,7 +15,8 @@
- pubsub_msg
+
+ custom_interfaces
diff --git a/src/pubsub_msg/CMakeLists.txt b/src/pubsub_msg/CMakeLists.txt
deleted file mode 100644
index 583a2cd..0000000
--- a/src/pubsub_msg/CMakeLists.txt
+++ /dev/null
@@ -1,59 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(pubsub_msg)
-
-# Default to C99
-if(NOT CMAKE_C_STANDARD)
- set(CMAKE_C_STANDARD 99)
-endif()
-
-# Default to C++14
-if(NOT CMAKE_CXX_STANDARD)
- set(CMAKE_CXX_STANDARD 14)
-endif()
-
-if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
- add_compile_options(-Wall -Wextra -Wpedantic)
-endif()
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-# uncomment the following section in order to fill in
-# further dependencies manually.
-# find_package( REQUIRED)
-
-
-
-
-# -->
-# ADD THESE LINES: START HERE
-
-find_package(builtin_interfaces REQUIRED)
-find_package(rosidl_default_generators REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(rclcpp REQUIRED)
-
-# CUSTOM LINES: CHANGE FOR YOUR FILENAMES
-rosidl_generate_interfaces(${PROJECT_NAME}
- "msg/CustomMsg1.msg"
- "msg/CustomMsg2.msg"
- DEPENDENCIES builtin_interfaces
- )
-
-# END HERE
-# <--
-
-
-
-
-if(BUILD_TESTING)
- find_package(ament_lint_auto REQUIRED)
- # the following line skips the linter which checks for copyrights
- # uncomment the line when a copyright and license is not present in all source files
- #set(ament_cmake_copyright_FOUND TRUE)
- # the following line skips cpplint (only works in a git repo)
- # uncomment the line when this package is not in a git repo
- #set(ament_cmake_cpplint_FOUND TRUE)
- ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_package()
diff --git a/src/pubsub_msg/msg/CustomMsg1.msg b/src/pubsub_msg/msg/CustomMsg1.msg
deleted file mode 100644
index 66a846b..0000000
--- a/src/pubsub_msg/msg/CustomMsg1.msg
+++ /dev/null
@@ -1,8 +0,0 @@
-# Header data, eg timestamp
-# Problem: "header__struct.hpp: No such file or directory"
-#Header header
-
-# Sensor Data coming back from an array of atmospheric sensors
-float32[] temperature
-float32[] pressure
-float32[] humidity
diff --git a/src/pubsub_msg/msg/CustomMsg2.msg b/src/pubsub_msg/msg/CustomMsg2.msg
deleted file mode 100644
index 2e9603d..0000000
--- a/src/pubsub_msg/msg/CustomMsg2.msg
+++ /dev/null
@@ -1,7 +0,0 @@
-# Header data, eg timestamp
-# Problem: "header__struct.hpp: No such file or directory"
-#Header header
-
-# User inputs, eg. for controlling a camera mast , eg. set angles [rad]
-float32 pitch_ctrl
-float32 yaw_ctrl
diff --git a/src/pubsub_msg/package.xml b/src/pubsub_msg/package.xml
deleted file mode 100644
index 1592b75..0000000
--- a/src/pubsub_msg/package.xml
+++ /dev/null
@@ -1,34 +0,0 @@
-
-
-
- pubsub_msg
- 0.0.0
- TODO: Package description
- patrick
- TODO: License declaration
-
- ament_cmake
- ament_lint_auto
- ament_lint_common
-
-
-
-
-
- builtin_interfaces
- rosidl_default_generators
-
- builtin_interfaces
- rosidl_default_runtime
-
- rosidl_interface_packages
-
-
-
-
-
-
-
- ament_cmake
-
-