diff --git a/sim/L1_AddTwoInts_ros_srv_test1.do b/sim/L1_AddTwoInts_ros_srv_test1.do
new file mode 100644
index 0000000..5f9e4cf
--- /dev/null
+++ b/sim/L1_AddTwoInts_ros_srv_test1.do
@@ -0,0 +1,105 @@
+onerror {resume}
+radix define ROS_RETCODE {
+    "10#0#" "ROS_RET_OK",
+    "10#1#" "ROS_RET_ERROR",
+    "10#2#" "ROS_RET_TIMEOUT",
+    "10#3#" "ROS_RET_UNSUPPORTED",
+    -default unsigned
+}
+quietly WaveActivateNextPane {} 0
+add wave -noupdate -divider SYSTEM
+add wave -noupdate /l1_addtwoints_ros_srv_test1/clk
+add wave -noupdate /l1_addtwoints_ros_srv_test1/reset
+add wave -noupdate -divider CLIENT
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/start_r
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/ack_r
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/get_data_r
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/done_r
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/valid_in_r
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/ready_in_r
+add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_c/data_in_r
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/last_word_in_r
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/si_valid_data_r
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/si_valid_r
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/si_ack_r
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/eoc_r
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/start_w
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/ack_w
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/done_w
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/valid_out_w
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/ready_out_w
+add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_c/data_out_w
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/last_word_out_w
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/start_user
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/ack_user
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/opcode_user
+add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_c/service_info_user
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/sequence_id
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/taken_user
+add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_c/a
+add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_c/b
+add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_c/sum
+add wave -noupdate -group CPORTS /l1_addtwoints_ros_srv_test1/uut_c/done_user
+add wave -noupdate -group CPORTS -radix ROS_RETCODE /l1_addtwoints_ros_srv_test1/uut_c/return_code_user
+add wave -noupdate /l1_addtwoints_ros_srv_test1/uut_c/stage
+add wave -noupdate /l1_addtwoints_ros_srv_test1/uut_c/encode_stage
+add wave -noupdate /l1_addtwoints_ros_srv_test1/uut_c/decode_stage
+add wave -noupdate /l1_addtwoints_ros_srv_test1/uut_c/return_stage
+add wave -noupdate /l1_addtwoints_ros_srv_test1/uut_c/cnt
+add wave -noupdate /l1_addtwoints_ros_srv_test1/uut_c/decode_error_latch
+add wave -noupdate -divider SERVER
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/start_r
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/ack_r
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/get_data_r
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/done_r
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/valid_in_r
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/ready_in_r
+add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_s/data_in_r
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/last_word_in_r
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/si_valid_data_r
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/si_valid_r
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/si_ack_r
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/eoc_r
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/start_w
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/ack_w
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/done_w
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/valid_out_w
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/ready_out_w
+add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_s/data_out_w
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/last_word_out_w
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/start_user
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/ack_user
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/opcode_user
+add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_s/service_info_user
+add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_s/request_id_user
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/taken_user
+add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_s/a
+add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_s/b
+add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_ros_srv_test1/uut_s/sum
+add wave -noupdate -group SPORTS /l1_addtwoints_ros_srv_test1/uut_s/done_user
+add wave -noupdate -group SPORTS -radix ROS_RETCODE /l1_addtwoints_ros_srv_test1/uut_s/return_code_user
+add wave -noupdate /l1_addtwoints_ros_srv_test1/uut_s/stage
+add wave -noupdate /l1_addtwoints_ros_srv_test1/uut_s/encode_stage
+add wave -noupdate /l1_addtwoints_ros_srv_test1/uut_s/decode_stage
+add wave -noupdate /l1_addtwoints_ros_srv_test1/uut_s/return_stage
+add wave -noupdate /l1_addtwoints_ros_srv_test1/uut_s/cnt
+add wave -noupdate /l1_addtwoints_ros_srv_test1/uut_s/decode_error_latch
+add wave -noupdate -divider MISC
+TreeUpdate [SetDefaultTree]
+WaveRestoreCursors {{Cursor 1} {325000 ps} 0}
+quietly wave cursor active 1
+configure wave -namecolwidth 150
+configure wave -valuecolwidth 100
+configure wave -justifyvalue left
+configure wave -signalnamewidth 1
+configure wave -snapdistance 10
+configure wave -datasetprefix 0
+configure wave -rowmargin 4
+configure wave -childrowmargin 2
+configure wave -gridoffset 0
+configure wave -gridperiod 1
+configure wave -griddelta 40
+configure wave -timeline 0
+configure wave -timelineunits ns
+update
+WaveRestoreZoom {0 ps} {1024 ns}
diff --git a/sim/L1_AddTwoInts_service_test1.do b/sim/L1_AddTwoInts_service_test1.do
deleted file mode 100644
index 6f14a2d..0000000
--- a/sim/L1_AddTwoInts_service_test1.do
+++ /dev/null
@@ -1,105 +0,0 @@
-onerror {resume}
-radix define ROS_RETCODE {
-    "10#0#" "ROS_RET_OK",
-    "10#1#" "ROS_RET_ERROR",
-    "10#2#" "ROS_RET_TIMEOUT",
-    "10#3#" "ROS_RET_UNSUPPORTED",
-    -default unsigned
-}
-quietly WaveActivateNextPane {} 0
-add wave -noupdate -divider SYSTEM
-add wave -noupdate /l1_addtwoints_service_test1/clk
-add wave -noupdate /l1_addtwoints_service_test1/reset
-add wave -noupdate -divider CLIENT
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/start_r
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/ack_r
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/get_data_r
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/done_r
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/valid_in_r
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/ready_in_r
-add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_c/data_in_r
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/last_word_in_r
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/si_valid_data_r
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/si_valid_r
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/si_ack_r
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/eoc_r
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/start_w
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/ack_w
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/done_w
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/valid_out_w
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/ready_out_w
-add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_c/data_out_w
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/last_word_out_w
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/start_user
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/ack_user
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/opcode_user
-add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_c/service_info_user
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/sequence_id
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/taken_user
-add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_c/a
-add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_c/b
-add wave -noupdate -group CPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_c/sum
-add wave -noupdate -group CPORTS /l1_addtwoints_service_test1/uut_c/done_user
-add wave -noupdate -group CPORTS -radix ROS_RETCODE /l1_addtwoints_service_test1/uut_c/return_code_user
-add wave -noupdate /l1_addtwoints_service_test1/uut_c/stage
-add wave -noupdate /l1_addtwoints_service_test1/uut_c/encode_stage
-add wave -noupdate /l1_addtwoints_service_test1/uut_c/decode_stage
-add wave -noupdate /l1_addtwoints_service_test1/uut_c/return_stage
-add wave -noupdate /l1_addtwoints_service_test1/uut_c/cnt
-add wave -noupdate /l1_addtwoints_service_test1/uut_c/decode_error_latch
-add wave -noupdate -divider SERVER
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/start_r
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/ack_r
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/get_data_r
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/done_r
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/valid_in_r
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/ready_in_r
-add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/data_in_r
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/last_word_in_r
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/si_valid_data_r
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/si_valid_r
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/si_ack_r
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/eoc_r
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/start_w
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/ack_w
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/done_w
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/valid_out_w
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/ready_out_w
-add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/data_out_w
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/last_word_out_w
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/start_user
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/ack_user
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/opcode_user
-add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/service_info_user
-add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/request_id_user
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/taken_user
-add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/a
-add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/b
-add wave -noupdate -group SPORTS -radix hexadecimal /l1_addtwoints_service_test1/uut_s/sum
-add wave -noupdate -group SPORTS /l1_addtwoints_service_test1/uut_s/done_user
-add wave -noupdate -group SPORTS -radix ROS_RETCODE /l1_addtwoints_service_test1/uut_s/return_code_user
-add wave -noupdate /l1_addtwoints_service_test1/uut_s/stage
-add wave -noupdate /l1_addtwoints_service_test1/uut_s/encode_stage
-add wave -noupdate /l1_addtwoints_service_test1/uut_s/decode_stage
-add wave -noupdate /l1_addtwoints_service_test1/uut_s/return_stage
-add wave -noupdate /l1_addtwoints_service_test1/uut_s/cnt
-add wave -noupdate /l1_addtwoints_service_test1/uut_s/decode_error_latch
-add wave -noupdate -divider MISC
-TreeUpdate [SetDefaultTree]
-WaveRestoreCursors {{Cursor 1} {325000 ps} 0}
-quietly wave cursor active 1
-configure wave -namecolwidth 150
-configure wave -valuecolwidth 100
-configure wave -justifyvalue left
-configure wave -signalnamewidth 1
-configure wave -snapdistance 10
-configure wave -datasetprefix 0
-configure wave -rowmargin 4
-configure wave -childrowmargin 2
-configure wave -gridoffset 0
-configure wave -gridperiod 1
-configure wave -griddelta 40
-configure wave -timeline 0
-configure wave -timelineunits ns
-update
-WaveRestoreZoom {0 ps} {1024 ns}
diff --git a/sim/L1_Fibonacci_action_feedback_test1.do b/sim/L1_Fibonacci_action_feedback_test1.do
deleted file mode 100644
index 5eab71e..0000000
--- a/sim/L1_Fibonacci_action_feedback_test1.do
+++ /dev/null
@@ -1,58 +0,0 @@
-onerror {resume}
-quietly WaveActivateNextPane {} 0
-add wave -noupdate -divider SYSTEM
-add wave -noupdate /l1_fibonacci_action_feedback_test1/clk
-add wave -noupdate /l1_fibonacci_action_feedback_test1/reset
-add wave -noupdate -divider PUBLISHER
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/start_dds
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/ack_dds
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/opcode_dds
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/done_dds
-add wave -noupdate -radix unsigned /l1_fibonacci_action_feedback_test1/uut_pub/return_code_dds
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/start_user
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/opcode_user
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/ack_user
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/done_user
-add wave -noupdate -radix unsigned /l1_fibonacci_action_feedback_test1/uut_pub/return_code_user
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/stage
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/encode_stage
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/cnt
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/goal_id_cnt
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_pub/seq_cnt
-add wave -noupdate -divider SUBSCRIBER
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/start_dds
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/ack_dds
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/opcode_dds
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/get_data_dds
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/done_dds
-add wave -noupdate -radix unsigned /l1_fibonacci_action_feedback_test1/uut_sub/return_code_dds
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/start_user
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/opcode_user
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/ack_user
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/done_user
-add wave -noupdate -radix unsigned /l1_fibonacci_action_feedback_test1/uut_sub/return_code_user
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/stage
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/decode_stage
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/return_stage
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/cnt
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/goal_id_cnt
-add wave -noupdate /l1_fibonacci_action_feedback_test1/uut_sub/seq_cnt
-add wave -noupdate -divider MISC
-TreeUpdate [SetDefaultTree]
-WaveRestoreCursors {{Cursor 1} {8403681 ps} 0}
-quietly wave cursor active 1
-configure wave -namecolwidth 150
-configure wave -valuecolwidth 100
-configure wave -justifyvalue left
-configure wave -signalnamewidth 1
-configure wave -snapdistance 10
-configure wave -datasetprefix 0
-configure wave -rowmargin 4
-configure wave -childrowmargin 2
-configure wave -gridoffset 0
-configure wave -gridperiod 1
-configure wave -griddelta 40
-configure wave -timeline 0
-configure wave -timelineunits ns
-update
-WaveRestoreZoom {7833600 ps} {8857600 ps}
diff --git a/sim/L1_Fibonacci_ros_action_feedback_test1.do b/sim/L1_Fibonacci_ros_action_feedback_test1.do
new file mode 100644
index 0000000..69c0de2
--- /dev/null
+++ b/sim/L1_Fibonacci_ros_action_feedback_test1.do
@@ -0,0 +1,58 @@
+onerror {resume}
+quietly WaveActivateNextPane {} 0
+add wave -noupdate -divider SYSTEM
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/clk
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/reset
+add wave -noupdate -divider PUBLISHER
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/start_dds
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/ack_dds
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/opcode_dds
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/done_dds
+add wave -noupdate -radix unsigned /l1_fibonacci_ros_action_feedback_test1/uut_pub/return_code_dds
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/start_user
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/opcode_user
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/ack_user
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/done_user
+add wave -noupdate -radix unsigned /l1_fibonacci_ros_action_feedback_test1/uut_pub/return_code_user
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/stage
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/encode_stage
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/cnt
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/goal_id_cnt
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_pub/seq_cnt
+add wave -noupdate -divider SUBSCRIBER
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/start_dds
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/ack_dds
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/opcode_dds
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/get_data_dds
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/done_dds
+add wave -noupdate -radix unsigned /l1_fibonacci_ros_action_feedback_test1/uut_sub/return_code_dds
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/start_user
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/opcode_user
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/ack_user
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/done_user
+add wave -noupdate -radix unsigned /l1_fibonacci_ros_action_feedback_test1/uut_sub/return_code_user
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/stage
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/decode_stage
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/return_stage
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/cnt
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/goal_id_cnt
+add wave -noupdate /l1_fibonacci_ros_action_feedback_test1/uut_sub/seq_cnt
+add wave -noupdate -divider MISC
+TreeUpdate [SetDefaultTree]
+WaveRestoreCursors {{Cursor 1} {8403681 ps} 0}
+quietly wave cursor active 1
+configure wave -namecolwidth 150
+configure wave -valuecolwidth 100
+configure wave -justifyvalue left
+configure wave -signalnamewidth 1
+configure wave -snapdistance 10
+configure wave -datasetprefix 0
+configure wave -rowmargin 4
+configure wave -childrowmargin 2
+configure wave -gridoffset 0
+configure wave -gridperiod 1
+configure wave -griddelta 40
+configure wave -timeline 0
+configure wave -timelineunits ns
+update
+WaveRestoreZoom {7833600 ps} {8857600 ps}
diff --git a/sim/L1_GoalStatusArray_ros_test1.do b/sim/L1_GoalStatusArray_ros_test1.do
new file mode 100644
index 0000000..2ba5cc7
--- /dev/null
+++ b/sim/L1_GoalStatusArray_ros_test1.do
@@ -0,0 +1,58 @@
+onerror {resume}
+quietly WaveActivateNextPane {} 0
+add wave -noupdate -divider SYSTEM
+add wave -noupdate /l1_goalstatusarray_ros_test1/clk
+add wave -noupdate /l1_goalstatusarray_ros_test1/reset
+add wave -noupdate -divider PUBLISHER
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/start_dds
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/ack_dds
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/opcode_dds
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/done_dds
+add wave -noupdate -radix unsigned /l1_goalstatusarray_ros_test1/uut_pub/return_code_dds
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/start_user
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/opcode_user
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/ack_user
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/done_user
+add wave -noupdate -radix unsigned /l1_goalstatusarray_ros_test1/uut_pub/return_code_user
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/stage
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/encode_stage
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/cnt
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/uuid_cnt
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_pub/status_list_cnt
+add wave -noupdate -divider SUBSCRIBER
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/start_dds
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/ack_dds
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/opcode_dds
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/get_data_dds
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/done_dds
+add wave -noupdate -radix unsigned /l1_goalstatusarray_ros_test1/uut_sub/return_code_dds
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/start_user
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/opcode_user
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/ack_user
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/done_user
+add wave -noupdate -radix unsigned /l1_goalstatusarray_ros_test1/uut_sub/return_code_user
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/stage
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/decode_stage
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/return_stage
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/cnt
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/uuid_cnt
+add wave -noupdate /l1_goalstatusarray_ros_test1/uut_sub/status_list_cnt
+add wave -noupdate -divider MISC
+TreeUpdate [SetDefaultTree]
+WaveRestoreCursors {{Cursor 1} {3286459 ps} 0}
+quietly wave cursor active 1
+configure wave -namecolwidth 150
+configure wave -valuecolwidth 100
+configure wave -justifyvalue left
+configure wave -signalnamewidth 1
+configure wave -snapdistance 10
+configure wave -datasetprefix 0
+configure wave -rowmargin 4
+configure wave -childrowmargin 2
+configure wave -gridoffset 0
+configure wave -gridperiod 1
+configure wave -griddelta 40
+configure wave -timeline 0
+configure wave -timelineunits ns
+update
+WaveRestoreZoom {1843200 ps} {2867200 ps}
diff --git a/sim/L1_GoalStatusArray_test1.do b/sim/L1_GoalStatusArray_test1.do
deleted file mode 100644
index 65a3857..0000000
--- a/sim/L1_GoalStatusArray_test1.do
+++ /dev/null
@@ -1,58 +0,0 @@
-onerror {resume}
-quietly WaveActivateNextPane {} 0
-add wave -noupdate -divider SYSTEM
-add wave -noupdate /l1_goalstatusarray_test1/clk
-add wave -noupdate /l1_goalstatusarray_test1/reset
-add wave -noupdate -divider PUBLISHER
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/start_dds
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/ack_dds
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/opcode_dds
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/done_dds
-add wave -noupdate -radix unsigned /l1_goalstatusarray_test1/uut_pub/return_code_dds
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/start_user
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/opcode_user
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/ack_user
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/done_user
-add wave -noupdate -radix unsigned /l1_goalstatusarray_test1/uut_pub/return_code_user
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/stage
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/encode_stage
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/cnt
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/uuid_cnt
-add wave -noupdate /l1_goalstatusarray_test1/uut_pub/status_list_cnt
-add wave -noupdate -divider SUBSCRIBER
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/start_dds
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/ack_dds
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/opcode_dds
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/get_data_dds
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/done_dds
-add wave -noupdate -radix unsigned /l1_goalstatusarray_test1/uut_sub/return_code_dds
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/start_user
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/opcode_user
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/ack_user
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/done_user
-add wave -noupdate -radix unsigned /l1_goalstatusarray_test1/uut_sub/return_code_user
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/stage
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/decode_stage
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/return_stage
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/cnt
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/uuid_cnt
-add wave -noupdate /l1_goalstatusarray_test1/uut_sub/status_list_cnt
-add wave -noupdate -divider MISC
-TreeUpdate [SetDefaultTree]
-WaveRestoreCursors {{Cursor 1} {3286459 ps} 0}
-quietly wave cursor active 1
-configure wave -namecolwidth 150
-configure wave -valuecolwidth 100
-configure wave -justifyvalue left
-configure wave -signalnamewidth 1
-configure wave -snapdistance 10
-configure wave -datasetprefix 0
-configure wave -rowmargin 4
-configure wave -childrowmargin 2
-configure wave -gridoffset 0
-configure wave -gridperiod 1
-configure wave -griddelta 40
-configure wave -timeline 0
-configure wave -timelineunits ns
-update
-WaveRestoreZoom {1843200 ps} {2867200 ps}
diff --git a/src/ros2/TEMPLATE_pub.vhd b/src/ros2/TEMPLATE_ros_pub.vhd
similarity index 100%
rename from src/ros2/TEMPLATE_pub.vhd
rename to src/ros2/TEMPLATE_ros_pub.vhd
diff --git a/src/ros2/TEMPLATE_srv_client.vhd b/src/ros2/TEMPLATE_ros_srv_client.vhd
similarity index 100%
rename from src/ros2/TEMPLATE_srv_client.vhd
rename to src/ros2/TEMPLATE_ros_srv_client.vhd
diff --git a/src/ros2/TEMPLATE_srv_server.vhd b/src/ros2/TEMPLATE_ros_srv_server.vhd
similarity index 100%
rename from src/ros2/TEMPLATE_srv_server.vhd
rename to src/ros2/TEMPLATE_ros_srv_server.vhd
diff --git a/src/ros2/TEMPLATE_sub.vhd b/src/ros2/TEMPLATE_ros_sub.vhd
similarity index 100%
rename from src/ros2/TEMPLATE_sub.vhd
rename to src/ros2/TEMPLATE_ros_sub.vhd
diff --git a/src/ros2/Tests/Level_1/L1_AddTwoInts_srv_test1.vhd b/src/ros2/Tests/Level_1/L1_AddTwoInts_ros_srv_test1.vhd
similarity index 98%
rename from src/ros2/Tests/Level_1/L1_AddTwoInts_srv_test1.vhd
rename to src/ros2/Tests/Level_1/L1_AddTwoInts_ros_srv_test1.vhd
index 61e929a..8adf9df 100644
--- a/src/ros2/Tests/Level_1/L1_AddTwoInts_srv_test1.vhd
+++ b/src/ros2/Tests/Level_1/L1_AddTwoInts_ros_srv_test1.vhd
@@ -18,10 +18,10 @@ use work.rtps_test_package.all;
 --  * Test Sample with No Valid response from DDS Reader
 --  * Test Big Endian Encoding/Decoding of AddTwoInts Service Messages
 
-entity L1_AddTwoInts_srv_test1 is
+entity L1_AddTwoInts_ros_srv_test1 is
 end entity;
 
-architecture testbench of L1_AddTwoInts_srv_test1 is
+architecture testbench of L1_AddTwoInts_ros_srv_test1 is
     
     signal clk, reset : std_logic := '0';
     signal valid_rq, valid_rr, ready_rq, ready_rr, last_word_rq, last_word_rr : std_logic := '0';
@@ -38,7 +38,7 @@ architecture testbench of L1_AddTwoInts_srv_test1 is
     signal ready_sw, ready_cw, last_word_out_cw, last_word_out_sw, selector : std_logic := '0';
 begin
     
-    uut_c : entity work.AddTwoInts_srv_client(arch)
+    uut_c : entity work.AddTwoInts_ros_srv_client(arch)
         port map (
             clk                                 => clk,
             reset                               => reset,
@@ -105,7 +105,7 @@ begin
             return_code_user                    => return_code_c --
         );
     
-    uut_s : entity work.AddTwoInts_srv_server(arch)
+    uut_s : entity work.AddTwoInts_ros_srv_server(arch)
         port map (
             clk                                 => clk,
             reset                               => reset,
diff --git a/src/ros2/Tests/Level_1/L1_AddTwoInts_srv_test2.vhd b/src/ros2/Tests/Level_1/L1_AddTwoInts_ros_srv_test2.vhd
similarity index 98%
rename from src/ros2/Tests/Level_1/L1_AddTwoInts_srv_test2.vhd
rename to src/ros2/Tests/Level_1/L1_AddTwoInts_ros_srv_test2.vhd
index e4c2244..6774d54 100644
--- a/src/ros2/Tests/Level_1/L1_AddTwoInts_srv_test2.vhd
+++ b/src/ros2/Tests/Level_1/L1_AddTwoInts_ros_srv_test2.vhd
@@ -18,10 +18,10 @@ use work.rtps_test_package.all;
 --  * Test Sample with No Valid response from DDS Reader
 --  * Test Little Endian Encoding/Decoding of AddTwoInts Service Messages
 
-entity L1_AddTwoInts_srv_test2 is
+entity L1_AddTwoInts_ros_srv_test2 is
 end entity;
 
-architecture testbench of L1_AddTwoInts_srv_test2 is
+architecture testbench of L1_AddTwoInts_ros_srv_test2 is
     
     signal clk, reset : std_logic := '0';
     signal valid_rq, valid_rr, ready_rq, ready_rr, last_word_rq, last_word_rr : std_logic := '0';
@@ -38,7 +38,7 @@ architecture testbench of L1_AddTwoInts_srv_test2 is
     signal ready_sw, ready_cw, last_word_out_cw, last_word_out_sw, selector : std_logic := '0';
 begin
     
-    uut_c : entity work.AddTwoInts_srv_client(arch)
+    uut_c : entity work.AddTwoInts_ros_srv_client(arch)
         generic map (
             LITTLE_ENDIAN   => '1'
         )
@@ -108,7 +108,7 @@ begin
             return_code_user                    => return_code_c --
         );
     
-    uut_s : entity work.AddTwoInts_srv_server(arch)
+    uut_s : entity work.AddTwoInts_ros_srv_server(arch)
         generic map (
             LITTLE_ENDIAN   => '1'
         )
diff --git a/src/ros2/Tests/Level_1/L1_Fibonacci_action_feedback_test1.vhd b/src/ros2/Tests/Level_1/L1_Fibonacci_ros_action_feedback_test1.vhd
similarity index 98%
rename from src/ros2/Tests/Level_1/L1_Fibonacci_action_feedback_test1.vhd
rename to src/ros2/Tests/Level_1/L1_Fibonacci_ros_action_feedback_test1.vhd
index 34ba5e5..edb8060 100644
--- a/src/ros2/Tests/Level_1/L1_Fibonacci_action_feedback_test1.vhd
+++ b/src/ros2/Tests/Level_1/L1_Fibonacci_ros_action_feedback_test1.vhd
@@ -19,10 +19,10 @@ use work.Fibonacci_package.all;
 --  * Test Sample with No Valid response from DDS Reader
 --  * Test Big Endian Encoding/Decoding of Messages
 
-entity L1_Fibonacci_action_feedback_test1 is
+entity L1_Fibonacci_ros_action_feedback_test1 is
 end entity;
 
-architecture testbench of L1_Fibonacci_action_feedback_test1 is
+architecture testbench of L1_Fibonacci_ros_action_feedback_test1 is
     
     signal clk, reset : std_logic := '0';
     signal valid, ready, last_word, last_word_out_w : std_logic := '0';
@@ -41,7 +41,7 @@ architecture testbench of L1_Fibonacci_action_feedback_test1 is
     signal seq_sub, seq_r_pub, seq_w_pub : std_logic_vector(CDR_LONG_WIDTH-1 downto 0) := (others => '0');
 begin
     
-    uut_sub : entity work.Fibonacci_action_feedback_sub(arch)
+    uut_sub : entity work.Fibonacci_ros_action_feedback_sub(arch)
         port map (
             clk                                 => clk,
             reset                               => reset,
@@ -94,7 +94,7 @@ begin
             taken_user                          => taken_sub
         );
     
-    uut_pub : entity work.Fibonacci_action_feedback_pub(arch)
+    uut_pub : entity work.Fibonacci_ros_action_feedback_pub(arch)
         port map (
             clk                     => clk,
             reset                   => reset,
diff --git a/src/ros2/Tests/Level_1/L1_GoalStatusArray_test1.vhd b/src/ros2/Tests/Level_1/L1_GoalStatusArray_ros_test1.vhd
similarity index 98%
rename from src/ros2/Tests/Level_1/L1_GoalStatusArray_test1.vhd
rename to src/ros2/Tests/Level_1/L1_GoalStatusArray_ros_test1.vhd
index 7906dac..4fc38fc 100644
--- a/src/ros2/Tests/Level_1/L1_GoalStatusArray_test1.vhd
+++ b/src/ros2/Tests/Level_1/L1_GoalStatusArray_ros_test1.vhd
@@ -19,10 +19,10 @@ use work.GoalStatusArray_package.all;
 --  * Test Sample with No Valid response from DDS Reader
 --  * Test Big Endian Encoding/Decoding of Messages
 
-entity L1_GoalStatusArray_test1 is
+entity L1_GoalStatusArray_ros_test1 is
 end entity;
 
-architecture testbench of L1_GoalStatusArray_test1 is
+architecture testbench of L1_GoalStatusArray_ros_test1 is
     
     signal clk, reset : std_logic := '0';
     signal valid, ready, last_word, last_word_out_w : std_logic := '0';
@@ -42,7 +42,7 @@ architecture testbench of L1_GoalStatusArray_test1 is
     signal status_list_status_r_pub, status_list_status_w_pub, status_list_status_sub : std_logic_vector(CDR_INT8_WIDTH-1 downto 0) := (others => '0');
 begin
     
-    uut_sub : entity work.GoalStatusArray_sub(arch)
+    uut_sub : entity work.GoalStatusArray_ros_sub(arch)
         port map (
             clk                                 => clk,
             reset                               => reset,
@@ -96,7 +96,7 @@ begin
             taken_user                          => taken_sub
         );
     
-    uut_pub : entity work.GoalStatusArray_pub(arch)
+    uut_pub : entity work.GoalStatusArray_ros_pub(arch)
         port map (
             clk                             => clk,
             reset                           => reset,
diff --git a/src/ros2/Tests/Level_2/L2_AddTwoInts_test1.vhd b/src/ros2/Tests/Level_2/L2_AddTwoInts_ros_srv_test1.vhd
similarity index 98%
rename from src/ros2/Tests/Level_2/L2_AddTwoInts_test1.vhd
rename to src/ros2/Tests/Level_2/L2_AddTwoInts_ros_srv_test1.vhd
index 974db13..0e11210 100644
--- a/src/ros2/Tests/Level_2/L2_AddTwoInts_test1.vhd
+++ b/src/ros2/Tests/Level_2/L2_AddTwoInts_ros_srv_test1.vhd
@@ -19,10 +19,10 @@ use work.rtps_test_package.all;
 -- summation.
 
 
-entity L2_AddTwoInts_test1 is
+entity L2_AddTwoInts_ros_srv_test1 is
 end entity;
 
-architecture testbench of L2_AddTwoInts_test1 is
+architecture testbench of L2_AddTwoInts_ros_srv_test1 is
     
     signal clk, reset : std_logic := '0';
     signal time : TIME_TYPE := TIME_ZERO;
diff --git a/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2.vhd b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2.vhd
index 3808361..d1c13a5 100644
--- a/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2.vhd
+++ b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib2.vhd
@@ -632,7 +632,7 @@ begin
     
     -- ######GENERATED START######
     
-    AddTwoInts_srv_server_inst : entity work.AddTwoInts_srv_server(arch)
+    AddTwoInts_ros_srv_server_inst : entity work.AddTwoInts_ros_srv_server(arch)
         port map (
             clk                                 => clk,
             reset                               => reset,
diff --git a/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3.vhd b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3.vhd
index 7d47a97..d02de7e 100644
--- a/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3.vhd
+++ b/src/ros2/Tests/Level_2/L2_Testbench_ROS_Lib3.vhd
@@ -642,7 +642,7 @@ begin
     
     -- ######GENERATED START######
     
-    AddTwoInts_srv_client_inst : entity work.AddTwoInts_srv_client(arch)
+    AddTwoInts_ros_srv_client_inst : entity work.AddTwoInts_ros_srv_client(arch)
         port map (
             clk                                 => clk,
             reset                               => reset,
diff --git a/src/ros2/Tests/ros_testbench.pro b/src/ros2/Tests/ros_testbench.pro
index 9276a01..4f192ad 100644
--- a/src/ros2/Tests/ros_testbench.pro
+++ b/src/ros2/Tests/ros_testbench.pro
@@ -34,8 +34,8 @@ analyze ../../key_hash_generator.vhd
 analyze ../../Tests/test_key_holder.vhd
 analyze ../../Tests/test_key_hash_generator.vhd
 analyze ../ros_static_discovery_writer.vhd
-analyze ../example_interfaces/AddTwoInts_srv_client.vhd
-analyze ../example_interfaces/AddTwoInts_srv_server.vhd
+analyze ../example_interfaces/AddTwoInts_ros_srv_client.vhd
+analyze ../example_interfaces/AddTwoInts_ros_srv_server.vhd
 analyze AddTwoInts.vhd
 analyze Level_2/L2_Testbench_ROS_Lib2.vhd
 
@@ -72,8 +72,8 @@ analyze ../../key_hash_generator.vhd
 analyze ../../Tests/test_key_holder.vhd
 analyze ../../Tests/test_key_hash_generator.vhd
 analyze ../ros_static_discovery_writer.vhd
-analyze ../example_interfaces/AddTwoInts_srv_client.vhd
-analyze ../example_interfaces/AddTwoInts_srv_server.vhd
+analyze ../example_interfaces/AddTwoInts_ros_srv_client.vhd
+analyze ../example_interfaces/AddTwoInts_ros_srv_server.vhd
 analyze Level_2/L2_Testbench_ROS_Lib3.vhd
 
 library Testbench_ROS_Lib1
@@ -88,25 +88,25 @@ analyze ../../Tests/single_port_ram_cfg.vhd
 analyze ../../FWFT_FIFO.vhd
 analyze ../../Tests/FWFT_FIFO_cfg.vhd
 analyze ../../mem_ctrl.vhd
-analyze ../example_interfaces/AddTwoInts_srv_client.vhd
-analyze ../example_interfaces/AddTwoInts_srv_server.vhd
-analyze Level_1/L1_AddTwoInts_srv_test1.vhd
-analyze Level_1/L1_AddTwoInts_srv_test2.vhd
-analyze Level_2/L2_AddTwoInts_test1.vhd
+analyze ../example_interfaces/AddTwoInts_ros_srv_client.vhd
+analyze ../example_interfaces/AddTwoInts_ros_srv_server.vhd
+analyze Level_1/L1_AddTwoInts_ros_srv_test1.vhd
+analyze Level_1/L1_AddTwoInts_ros_srv_test2.vhd
+analyze Level_2/L2_AddTwoInts_ros_srv_test1.vhd
 analyze ../example_interfaces/Fibonacci_package.vhd
-analyze ../example_interfaces/Fibonacci_action_feedback_pub.vhd
-analyze ../example_interfaces/Fibonacci_action_feedback_sub.vhd
-analyze Level_1/L1_Fibonacci_action_feedback_test1.vhd
+analyze ../example_interfaces/Fibonacci_ros_action_feedback_pub.vhd
+analyze ../example_interfaces/Fibonacci_ros_action_feedback_sub.vhd
+analyze Level_1/L1_Fibonacci_ros_action_feedback_test1.vhd
 analyze ../rcl_interfaces/action_msgs/GoalInfo_package.vhd
 analyze ../rcl_interfaces/action_msgs/GoalStatus_package.vhd
 analyze ../rcl_interfaces/action_msgs/GoalStatusArray_package.vhd
-analyze ../rcl_interfaces/action_msgs/GoalStatusArray_pub.vhd
-analyze ../rcl_interfaces/action_msgs/GoalStatusArray_sub.vhd
-analyze Level_1/L1_GoalStatusArray_test1.vhd
+analyze ../rcl_interfaces/action_msgs/GoalStatusArray_ros_pub.vhd
+analyze ../rcl_interfaces/action_msgs/GoalStatusArray_ros_sub.vhd
+analyze Level_1/L1_GoalStatusArray_ros_test1.vhd
 
 
-simulate L1_AddTwoInts_srv_test1
-simulate L1_AddTwoInts_srv_test2
-simulate L2_AddTwoInts_test1
-simulate L1_Fibonacci_action_feedback_test1
-simulate L1_GoalStatusArray_test1
\ No newline at end of file
+simulate L1_AddTwoInts_ros_srv_test1
+simulate L1_AddTwoInts_ros_srv_test2
+simulate L2_AddTwoInts_ros_srv_test1
+simulate L1_Fibonacci_ros_action_feedback_test1
+simulate L1_GoalStatusArray_ros_test1
\ No newline at end of file
diff --git a/src/ros2/example_interfaces/AddTwoInts_srv_client.vhd b/src/ros2/example_interfaces/AddTwoInts_ros_srv_client.vhd
similarity index 99%
rename from src/ros2/example_interfaces/AddTwoInts_srv_client.vhd
rename to src/ros2/example_interfaces/AddTwoInts_ros_srv_client.vhd
index 9ed0e1c..9413ee5 100644
--- a/src/ros2/example_interfaces/AddTwoInts_srv_client.vhd
+++ b/src/ros2/example_interfaces/AddTwoInts_ros_srv_client.vhd
@@ -9,7 +9,7 @@ use work.rtps_package.all;
 use work.rtps_config_package.all;
 use work.ros_package.all;
 
-entity AddTwoInts_srv_client is
+entity AddTwoInts_ros_srv_client is
     generic (
         LITTLE_ENDIAN   : std_logic := '0'
     );
@@ -88,7 +88,7 @@ entity AddTwoInts_srv_client is
     );
 end entity;
 
-architecture arch of AddTwoInts_srv_client is
+architecture arch of AddTwoInts_ros_srv_client is
     
     --*****TYPE DECLARATION*****
     -- FSM states. Explained below in detail
diff --git a/src/ros2/example_interfaces/AddTwoInts_srv_server.vhd b/src/ros2/example_interfaces/AddTwoInts_ros_srv_server.vhd
similarity index 99%
rename from src/ros2/example_interfaces/AddTwoInts_srv_server.vhd
rename to src/ros2/example_interfaces/AddTwoInts_ros_srv_server.vhd
index 931b345..d5d2227 100644
--- a/src/ros2/example_interfaces/AddTwoInts_srv_server.vhd
+++ b/src/ros2/example_interfaces/AddTwoInts_ros_srv_server.vhd
@@ -9,7 +9,7 @@ use work.rtps_package.all;
 use work.rtps_config_package.all;
 use work.ros_package.all;
 
-entity AddTwoInts_srv_server is
+entity AddTwoInts_ros_srv_server is
     generic (
         LITTLE_ENDIAN   : std_logic := '0'
     );
@@ -88,7 +88,7 @@ entity AddTwoInts_srv_server is
     );
 end entity;
 
-architecture arch of AddTwoInts_srv_server is
+architecture arch of AddTwoInts_ros_srv_server is
     
     --*****TYPE DECLARATION*****
     -- FSM states. Explained below in detail
diff --git a/src/ros2/example_interfaces/Fibonacci_action_feedback_pub.vhd b/src/ros2/example_interfaces/Fibonacci_ros_action_feedback_pub.vhd
similarity index 99%
rename from src/ros2/example_interfaces/Fibonacci_action_feedback_pub.vhd
rename to src/ros2/example_interfaces/Fibonacci_ros_action_feedback_pub.vhd
index a3146b6..f0de78a 100644
--- a/src/ros2/example_interfaces/Fibonacci_action_feedback_pub.vhd
+++ b/src/ros2/example_interfaces/Fibonacci_ros_action_feedback_pub.vhd
@@ -10,7 +10,7 @@ use work.rtps_config_package.all;
 use work.ros_package.all;
 use work.Fibonacci_package.all;
 
-entity Fibonacci_action_feedback_pub is
+entity Fibonacci_ros_action_feedback_pub is
     generic (
         LITTLE_ENDIAN   : std_logic := '0'
     );
@@ -62,7 +62,7 @@ entity Fibonacci_action_feedback_pub is
     );
 end entity;
 
-architecture arch of Fibonacci_action_feedback_pub is
+architecture arch of Fibonacci_ros_action_feedback_pub is
     
     --*****TYPE DECLARATION*****
     -- FSM states. Explained below in detail
diff --git a/src/ros2/example_interfaces/Fibonacci_action_feedback_sub.vhd b/src/ros2/example_interfaces/Fibonacci_ros_action_feedback_sub.vhd
similarity index 99%
rename from src/ros2/example_interfaces/Fibonacci_action_feedback_sub.vhd
rename to src/ros2/example_interfaces/Fibonacci_ros_action_feedback_sub.vhd
index 81d65b0..c63c90e 100644
--- a/src/ros2/example_interfaces/Fibonacci_action_feedback_sub.vhd
+++ b/src/ros2/example_interfaces/Fibonacci_ros_action_feedback_sub.vhd
@@ -10,7 +10,7 @@ use work.rtps_config_package.all;
 use work.ros_package.all;
 use work.Fibonacci_package.all;
 
-entity Fibonacci_action_feedback_sub is
+entity Fibonacci_ros_action_feedback_sub is
     port (
         -- SYSTEM
         clk                                 : in std_logic;
@@ -75,7 +75,7 @@ entity Fibonacci_action_feedback_sub is
     );
 end entity;
 
-architecture arch of Fibonacci_action_feedback_sub is
+architecture arch of Fibonacci_ros_action_feedback_sub is
     
     --*****TYPE DECLARATION*****
     -- FSM states. Explained below in detail
diff --git a/src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_pub.vhd b/src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_ros_pub.vhd
similarity index 99%
rename from src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_pub.vhd
rename to src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_ros_pub.vhd
index becb449..e0f3e86 100644
--- a/src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_pub.vhd
+++ b/src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_ros_pub.vhd
@@ -10,7 +10,7 @@ use work.rtps_config_package.all;
 use work.ros_package.all;
 use work.GoalStatusArray_package.all;
 
-entity GoalStatusArray_pub is
+entity GoalStatusArray_ros_pub is
     generic (
         LITTLE_ENDIAN   : std_logic := '0'
     );
@@ -65,7 +65,7 @@ entity GoalStatusArray_pub is
     );
 end entity;
 
-architecture arch of GoalStatusArray_pub is
+architecture arch of GoalStatusArray_ros_pub is
     
     --*****TYPE DECLARATION*****
     -- FSM states. Explained below in detail
diff --git a/src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_sub.vhd b/src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_ros_sub.vhd
similarity index 99%
rename from src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_sub.vhd
rename to src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_ros_sub.vhd
index daa4e47..4d3b8a8 100644
--- a/src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_sub.vhd
+++ b/src/ros2/rcl_interfaces/action_msgs/GoalStatusArray_ros_sub.vhd
@@ -10,7 +10,7 @@ use work.rtps_config_package.all;
 use work.ros_package.all;
 use work.GoalStatusArray_package.all;
 
-entity GoalStatusArray_sub is
+entity GoalStatusArray_ros_sub is
     port (
         -- SYSTEM
         clk                                 : in std_logic;
@@ -76,7 +76,7 @@ entity GoalStatusArray_sub is
     );
 end entity;
 
-architecture arch of GoalStatusArray_sub is
+architecture arch of GoalStatusArray_ros_sub is
     
     --*****TYPE DECLARATION*****
     -- FSM states. Explained below in detail