diff --git a/README.md b/README.md
index f5bde5b..ede3b64 100644
--- a/README.md
+++ b/README.md
@@ -1,5 +1,5 @@
 # Introduction
-Here are the ROS packages of Unitree robots, namely Laikago, Aliengo and A1. You can load robots and joint controllers in Gazebo. And we also offered a basic standing controller and a tool to generate external force. Besides of these simulation functions, you can also control your real robots in ROS by the `unitree_legged_real`.
+Here are the ROS packages of Unitree robots, namely Laikago, Aliengo and A1. You can load robots and joint controllers in Gazebo. And we also offered a basic standing controller, a position and pose publisher and a tool to generate external force. Besides of these simulation functions, you can also control your real robots in ROS by the `unitree_legged_real`.
 
 ## Packages:
 Robot description: `a1_description`, `aliengo_description`, `laikago_description`
@@ -8,12 +8,10 @@ Robot and joints controller: `unitree_controller`
 
 Basic function: `unitree_legged_msgs`
 
-Simulation related: `unitree_gazebo`, `unitree_worlds`, `unitree_legged_control`
+Simulation related: `unitree_gazebo`, `unitree_legged_control`
 
 Real robot control related: `unitree_legged_real`
 
-Some examples: `unitree_example`
-
 # Dependencies
 * [ROS](https://www.ros.org/) melodic or ROS kinetic(has not been tested)
 * [Gazebo8](http://gazebosim.org/)
@@ -45,10 +43,10 @@ Else if your ROS is kinetic:
 sudo apt-get install ros-kinetic-controller-manager ros-kinetic-ros-control ros-kinetic-ros-controllers ros-kinetic-joint-state-controller ros-kinetic-effort-controllers ros-kinetic-velocity-controllers ros-kinetic-position-controllers ros-kinetic-robot-controllers ros-kinetic-robot-state-publisher ros-kinetic-gazebo8-ros ros-kinetic-gazebo8-ros-control ros-kinetic-gazebo8-ros-pkgs ros-kinetic-gazebo8-ros-dev
 ```
 
-And open the file `worlds/stairs.world`. At the end of the file:
+And open the file `unitree_gazebo/worlds/stairs.world`. At the end of the file:
 ```
 <include>
-    <uri>model:///home/unitree/catkin_ws/src/unitree/worlds/building_editor_models/stairs</uri>
+    <uri>model:///home/unitree/catkin_ws/src/unitree_ros/unitree_gazebo/worlds/building_editor_models/stairs</uri>
 </include>
 ```
 Please change the path of `building_editor_models/stairs` to the real path on your PC.
@@ -82,7 +80,8 @@ roslaunch unitree_gazebo normal.launch rname:=a1 wname:=stairs
 ```
 Where the `rname` means robot name, which can be `laikago`, `aliengo` or `a1`. The `wname` means world name, which can be `earth`, `space` or `stairs`. And the default value of `rname` is `laikago`, while the default value of `wname` is `earth`. In Gazebo, the robot should be lying on the ground with joints not activated.
 
-Then you can start to control the robot:
+### Stand controller
+After launching the gazebo simulation, you can start to control the robot:
 ```
 rosrun unitree_controller unitree_servo
 ```
@@ -91,6 +90,15 @@ And you can add external disturbances, like a push or a kick:
 ```
 rosrun unitree_controller unitree_external_force
 ```
+### Position and pose publisher
+Here we showed how to control the position and pose of robot without a controller, which should be useful in SLAM or visual development.
+
+Then run the position and pose publisher in another terminal:
+```
+rosrun unitree_controller unitree_move_kinetic
+```
+The robot will turn around the origin, which is the movement under the world coordinate. And inside of the source file `move_publisher`, we also offered the method to move robot under robot coordinate. You can change the value of `def_frame` to `coord::ROBOT` and run the catkin_make again, then the `unitree_move_publisher` will move robot under its own coordinate.
+
 ## unitree_legged_real
 You can control your real robot(only A1 and Aliengo) from ROS by this package.
 
@@ -113,17 +121,3 @@ torque_lcm
 The `velocity_lcm` and `torque_lcm` have to run under root account too. Please use the same method as runing `real_launch`.
 
 And when you run the high level controller, please make sure the robot is standing on the ground. The high level only has `walk_lcm`.
-
-## unitree_examples:
-### laikago_move:
-In this package, we showed how to control the position and pose of robot without a controller, which should be useful in SLAM or visual development.
-
-First launch a gazobe simulation of Laikago:
-```
-roslaunch unitree_gazebo normal.launch
-```
-Then run the position and pose publisher in another terminal:
-```
-rosrun unitree_examples laikago_move
-```
-The Laikago will turn around the origin.
\ No newline at end of file
diff --git a/examples/CMakeLists.txt b/examples/CMakeLists.txt
deleted file mode 100644
index 823258d..0000000
--- a/examples/CMakeLists.txt
+++ /dev/null
@@ -1,21 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(unitree_examples)
-
-find_package(catkin REQUIRED COMPONENTS
-    roscpp 
-    std_msgs 
-)
-
-find_package(gazebo REQUIRED)
-
-catkin_package(
-    CATKIN_DEPENDS
-)
-
-include_directories(
-    ${catkin_INCLUDE_DIRS}
-    ${GAZEBO_INCLUDE_DIRS}
-)
-
-add_executable(laikago_move src/move_publisher.cpp)
-target_link_libraries(laikago_move ${catkin_LIBRARIES})
diff --git a/examples/launch/laikago_move.launch b/examples/launch/laikago_move.launch
deleted file mode 100644
index 998d6ed..0000000
--- a/examples/launch/laikago_move.launch
+++ /dev/null
@@ -1,42 +0,0 @@
-<launch>
-
-    <arg name="paused" default="true"/>
-    <arg name="use_sim_time" default="true"/>
-    <arg name="gui" default="true"/>
-    <arg name="headless" default="false"/>
-    <arg name="debug" default="false"/>
-    <!-- Debug mode will hung up the robot, use "true" or "false" to switch it. -->
-    <arg name="user_debug" default="false"/>
-    
-    <include file="$(find gazebo_ros)/launch/empty_world.launch">
-        <arg name="world_name" value="$(find unitree_worlds)/earth.world"/>
-        <arg name="debug" value="$(arg debug)"/>
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="paused" value="$(arg paused)"/>
-        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
-        <arg name="headless" value="$(arg headless)"/>
-    </include>
-
-    <!-- Load the URDF into the ROS Parameter Server -->
-    <param name="robot_description"
-           command="$(find xacro)/xacro --inorder '$(find laikago_description)/xacro/robot.xacro' 
-           DEBUG:=$(arg user_debug)"/>
-
-    <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
-    <!-- Set trunk and joint positions at startup -->
-    <node pkg="gazebo_ros" type="spawn_model" name="urdf_spawner" respawn="false" output="screen"
-          args="-urdf -z 0.6 -model laikago_gazebo -param robot_description -unpause"/>
-
-    <!-- Load joint controller configurations from YAML file to parameter server -->
-    <rosparam file="$(find laikago_description)/config/robot_control.yaml" command="load"/>
-
-    <!-- load the controllers -->
-    <node pkg="controller_manager" type="spawner" name="controller_spawner" respawn="false"
-          output="screen" ns="/laikago_gazebo" args="joint_state_controller
-          FL_hip_controller FL_thigh_controller FL_calf_controller
-          FR_hip_controller FR_thigh_controller FR_calf_controller
-          RL_hip_controller RL_thigh_controller RL_calf_controller
-          RR_hip_controller RR_thigh_controller RR_calf_controller "/>
-
-
-</launch>
diff --git a/examples/package.xml b/examples/package.xml
deleted file mode 100644
index 7541acc..0000000
--- a/examples/package.xml
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-    <name>unitree_examples</name>
-    <version>0.0.1</version>
-    <description>The examples package</description>
-
-    <maintainer email="laikago@unitree.cc">unitree</maintainer>
-    <license>TODO</license>
-
-    <buildtool_depend>catkin</buildtool_depend>
-
-    <build_depend>roscpp</build_depend>
-    <build_depend>std_msgs</build_depend>
-    <build_export_depend>roscpp</build_export_depend>
-    <build_export_depend>std_msgs</build_export_depend>
-    <exec_depend>roscpp</exec_depend>
-    <exec_depend>std_msgs</exec_depend>
-
-</package>
diff --git a/examples/src/move_publisher.cpp b/examples/src/move_publisher.cpp
deleted file mode 100644
index 1e96aad..0000000
--- a/examples/src/move_publisher.cpp
+++ /dev/null
@@ -1,54 +0,0 @@
-#include <ros/ros.h>
-#include <gazebo_msgs/ModelState.h>
-#include <gazebo_msgs/SetModelState.h>
-#include <string.h>
-#include <stdio.h>  
-#include <tf/transform_datatypes.h>
-// #include <std_msgs/Float64.h>
-#include <math.h>
-
-int main(int argc, char **argv)
-{
-    ros::init(argc, argv, "move_publisher");
-    ros::NodeHandle nh;
-    ros::Publisher move_publisher = nh.advertise<gazebo_msgs::ModelState>("/gazebo/set_model_state", 1000);
-
-    gazebo_msgs::ModelState model_state_pub;
-
-    model_state_pub.model_name = "laikago_gazebo";
-    model_state_pub.pose.position.x = 0.0;
-    model_state_pub.pose.position.y = 0.0;
-    model_state_pub.pose.position.z = 0.5;
-    
-    model_state_pub.pose.orientation.x = 0.0;
-    model_state_pub.pose.orientation.y = 0.0;
-    model_state_pub.pose.orientation.z = 0.0;
-    model_state_pub.pose.orientation.w = 1.0;
-    
-    // model_state_pub.twist.linear.x= 0.02; //0.02: 2cm/sec
-    // model_state_pub.twist.linear.y= 0.0;
-    // model_state_pub.twist.linear.z= 0.08;
-    
-    // model_state_pub.twist.angular.x= 0.0;
-    // model_state_pub.twist.angular.y= 0.0;
-    // model_state_pub.twist.angular.z= 0.0;
-
-    model_state_pub.reference_frame = "world";
-    // model_state_pub.reference_frame = "base";
-
-    long long time_ms = 0;  //time, ms
-    const double period = 5000; //ms
-    const double radius = 1.5;    //m
-    tf::Quaternion q;
-    ros::Rate loop_rate(1000);
-    while(ros::ok())
-    {
-        model_state_pub.pose.position.x = radius * sin(2*M_PI*(double)time_ms/period);
-        model_state_pub.pose.position.y = radius * cos(2*M_PI*(double)time_ms/period);
-        model_state_pub.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, - 2*M_PI*(double)time_ms/period);
-
-        move_publisher.publish(model_state_pub);
-        loop_rate.sleep();
-        time_ms += 1;
-    }
-}
\ No newline at end of file
diff --git a/unitree_controller/CMakeLists.txt b/unitree_controller/CMakeLists.txt
index 64296ff..88a30cc 100644
--- a/unitree_controller/CMakeLists.txt
+++ b/unitree_controller/CMakeLists.txt
@@ -54,4 +54,5 @@ target_link_libraries(unitree_external_force ${catkin_LIBRARIES})
 add_executable(unitree_servo src/servo.cpp)
 target_link_libraries(unitree_servo ${PROJECT_NAME} ${catkin_LIBRARIES})
 
-
+add_executable(unitree_move_kinetic src/move_publisher.cpp)
+target_link_libraries(unitree_move_kinetic ${catkin_LIBRARIES})
\ No newline at end of file
diff --git a/unitree_controller/src/move_publisher.cpp b/unitree_controller/src/move_publisher.cpp
new file mode 100644
index 0000000..f1a3e96
--- /dev/null
+++ b/unitree_controller/src/move_publisher.cpp
@@ -0,0 +1,80 @@
+#include <ros/ros.h>
+#include <gazebo_msgs/ModelState.h>
+#include <gazebo_msgs/SetModelState.h>
+#include <string>
+#include <stdio.h>  
+#include <tf/transform_datatypes.h>
+// #include <std_msgs/Float64.h>
+#include <math.h>
+#include <iostream>
+
+int main(int argc, char **argv)
+{
+    enum coord
+    {
+        WORLD,
+        ROBOT
+    };
+    coord def_frame = coord::WORLD;
+
+    ros::init(argc, argv, "move_publisher");
+    ros::NodeHandle nh;
+    ros::Publisher move_publisher = nh.advertise<gazebo_msgs::ModelState>("/gazebo/set_model_state", 1000);
+
+    gazebo_msgs::ModelState model_state_pub;
+
+    std::string robot_name;
+    ros::param::get("/robot_name", robot_name);
+    std::cout << "robot_name: " << robot_name << std::endl;
+
+    model_state_pub.model_name = robot_name + "_gazebo";
+    ros::Rate loop_rate(1000);
+
+    if(def_frame == coord::WORLD)
+    {
+        model_state_pub.pose.position.x = 0.0;
+        model_state_pub.pose.position.y = 0.0;
+        model_state_pub.pose.position.z = 0.5;
+        
+        model_state_pub.pose.orientation.x = 0.0;
+        model_state_pub.pose.orientation.y = 0.0;
+        model_state_pub.pose.orientation.z = 0.0;
+        model_state_pub.pose.orientation.w = 1.0;
+
+        model_state_pub.reference_frame = "world";
+
+        long long time_ms = 0;  //time, ms
+        const double period = 5000; //ms
+        const double radius = 1.5;    //m
+        tf::Quaternion q;
+        while(ros::ok())
+        {
+            model_state_pub.pose.position.x = radius * sin(2*M_PI*(double)time_ms/period);
+            model_state_pub.pose.position.y = radius * cos(2*M_PI*(double)time_ms/period);
+            model_state_pub.pose.orientation = tf::createQuaternionMsgFromRollPitchYaw(0, 0, - 2*M_PI*(double)time_ms/period);
+
+            move_publisher.publish(model_state_pub);
+            loop_rate.sleep();
+            time_ms += 1;
+        }
+    }
+    else if(def_frame == coord::ROBOT)
+    {
+        model_state_pub.twist.linear.x= 0.02; //0.02: 2cm/sec
+        model_state_pub.twist.linear.y= 0.0;
+        model_state_pub.twist.linear.z= 0.08;
+        
+        model_state_pub.twist.angular.x= 0.0;
+        model_state_pub.twist.angular.y= 0.0;
+        model_state_pub.twist.angular.z= 0.0;
+
+        model_state_pub.reference_frame = "base";
+
+        while(ros::ok())
+        {
+            move_publisher.publish(model_state_pub);
+            loop_rate.sleep();
+        }
+    }
+    
+}
\ No newline at end of file
diff --git a/unitree_gazebo/launch/normal.launch b/unitree_gazebo/launch/normal.launch
index 5706e14..01548cc 100644
--- a/unitree_gazebo/launch/normal.launch
+++ b/unitree_gazebo/launch/normal.launch
@@ -13,7 +13,7 @@
     <arg name="user_debug" default="false"/>
     
     <include file="$(find gazebo_ros)/launch/empty_world.launch">
-        <arg name="world_name" value="$(find unitree_worlds)/$(arg wname).world"/>
+        <arg name="world_name" value="$(find unitree_gazebo)/worlds/$(arg wname).world"/>
         <arg name="debug" value="$(arg debug)"/>
         <arg name="gui" value="$(arg gui)"/>
         <arg name="paused" value="$(arg paused)"/>
diff --git a/unitree_worlds/building_editor_models/stairs/model.config b/unitree_gazebo/worlds/building_editor_models/stairs/model.config
similarity index 100%
rename from unitree_worlds/building_editor_models/stairs/model.config
rename to unitree_gazebo/worlds/building_editor_models/stairs/model.config
diff --git a/unitree_worlds/building_editor_models/stairs/model.sdf b/unitree_gazebo/worlds/building_editor_models/stairs/model.sdf
similarity index 100%
rename from unitree_worlds/building_editor_models/stairs/model.sdf
rename to unitree_gazebo/worlds/building_editor_models/stairs/model.sdf
diff --git a/unitree_worlds/earth.world b/unitree_gazebo/worlds/earth.world
similarity index 100%
rename from unitree_worlds/earth.world
rename to unitree_gazebo/worlds/earth.world
diff --git a/unitree_worlds/space.world b/unitree_gazebo/worlds/space.world
similarity index 100%
rename from unitree_worlds/space.world
rename to unitree_gazebo/worlds/space.world
diff --git a/unitree_worlds/stairs.world b/unitree_gazebo/worlds/stairs.world
similarity index 96%
rename from unitree_worlds/stairs.world
rename to unitree_gazebo/worlds/stairs.world
index 95a667c..82a6d13 100644
--- a/unitree_worlds/stairs.world
+++ b/unitree_gazebo/worlds/stairs.world
@@ -109,7 +109,7 @@
         </model>
 
         <include>
-            <uri>model:///home/bian/catkin_ws/src/unitree/worlds/building_editor_models/stairs</uri>
+            <uri>model:///home/bian/catkin_ws/src/unitree_ros/unitree_gazebo/worlds/building_editor_models/stairs</uri>
         </include>
 
     </world>
diff --git a/unitree_legged_control/CMakeLists.txt b/unitree_legged_control/CMakeLists.txt
index dcfbb18..917bb91 100644
--- a/unitree_legged_control/CMakeLists.txt
+++ b/unitree_legged_control/CMakeLists.txt
@@ -28,4 +28,5 @@ link_directories($(catkin_LIB_DIRS) lib)
 add_library( unitree_legged_control 
     src/joint_controller.cpp
 )
+add_dependencies(${PROJECT_NAME} unitree_legged_msgs_gencpp)
 target_link_libraries(unitree_legged_control ${catkin_LIBRARIES} unitree_joint_control_tool)
diff --git a/unitree_legged_msgs/CMakeLists.txt b/unitree_legged_msgs/CMakeLists.txt
index 85c525c..4ae8a82 100644
--- a/unitree_legged_msgs/CMakeLists.txt
+++ b/unitree_legged_msgs/CMakeLists.txt
@@ -45,4 +45,4 @@ install(
   DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
   FILES_MATCHING PATTERN "*.h"
-)
+)
\ No newline at end of file
diff --git a/unitree_ros/CMakeLists.txt b/unitree_ros/CMakeLists.txt
deleted file mode 100644
index 1d336c9..0000000
--- a/unitree_ros/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(unitree_ros)
-find_package(catkin REQUIRED)
-catkin_metapackage()
\ No newline at end of file
diff --git a/unitree_ros/package.xml b/unitree_ros/package.xml
deleted file mode 100644
index b459f2e..0000000
--- a/unitree_ros/package.xml
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>unitree_ros</name>
-  <version>0.0.1</version>
-  <description>This is the metapackage of all unitree robots</description>
-  <maintainer email="unitree@todo.todo">TODO</maintainer>
-  <license>TODO</license>
-
-  <buildtool_depend>catkin</buildtool_depend>
-
-  <export>
-    <metapackage />
-  </export>
-</package>
diff --git a/unitree_worlds/CMakeLists.txt b/unitree_worlds/CMakeLists.txt
deleted file mode 100644
index 86ba482..0000000
--- a/unitree_worlds/CMakeLists.txt
+++ /dev/null
@@ -1,14 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(unitree_worlds)
-
-find_package(catkin REQUIRED COMPONENTS
-
-)
-
-catkin_package(
-    CATKIN_DEPENDS
-)
-
-include_directories(
-
-)
diff --git a/unitree_worlds/package.xml b/unitree_worlds/package.xml
deleted file mode 100644
index 7254281..0000000
--- a/unitree_worlds/package.xml
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-    <name>unitree_worlds</name>
-    <version>0.0.1</version>
-    <description>The worlds package</description>
-
-    <maintainer email="laikago@unitree.cc">unitree</maintainer>
-    <license>TODO</license>
-
-    <buildtool_depend>catkin</buildtool_depend>
-
-</package>