diff --git a/robots/spider/CMakeLists.txt b/robots/spidar/CMakeLists.txt
similarity index 92%
rename from robots/spider/CMakeLists.txt
rename to robots/spidar/CMakeLists.txt
index b21fc2f4a..df86773a5 100644
--- a/robots/spider/CMakeLists.txt
+++ b/robots/spidar/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(spider)
+project(spidar)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 add_compile_options(-std=c++14)
@@ -115,7 +115,7 @@ find_package(OsqpEigen REQUIRED)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES spider_robot_model spider_controllib
+  LIBRARIES spidar_robot_model spidar_controllib
   CATKIN_DEPENDS aerial_robot_base aerial_robot_model aerial_robot_msgs aerial_robot_simulation dragon roscpp sensor_msgs spinal std_msgs
 #  DEPENDS system_lib
 )
@@ -135,7 +135,7 @@ include_directories(
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/spider.cpp
+#   src/${PROJECT_NAME}/spidar.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -146,7 +146,7 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/spider_node.cpp)
+# add_executable(${PROJECT_NAME}_node src/spidar_node.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -205,20 +205,20 @@ include_directories(
 #   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 # )
 
-add_library(spider_robot_model
+add_library(spidar_robot_model
   src/model/hydrus_like_robot_model.cpp
   src/model/full_vectoring_robot_model.cpp
   src/model/ground_robot_model.cpp)
-target_link_libraries(spider_robot_model ${catkin_LIBRARIES} ${NLOPT_LIBRARIES} ${OsqpEigen_LIBRARIES})
+target_link_libraries(spidar_robot_model ${catkin_LIBRARIES} ${NLOPT_LIBRARIES} ${OsqpEigen_LIBRARIES})
 
-add_library(spider_controllib src/control/walk_control.cpp)
-target_link_libraries (spider_controllib ${catkin_LIBRARIES} spider_robot_model  ${OsqpEigen_LIBRARIES})
+add_library(spidar_controllib src/control/walk_control.cpp)
+target_link_libraries (spidar_controllib ${catkin_LIBRARIES} spidar_robot_model  ${OsqpEigen_LIBRARIES})
 
 
-add_library(spider_navigation
+add_library(spidar_navigation
   src/navigation/walk_navigation.cpp
   src/navigation/flight_navigation.cpp)
-target_link_libraries(spider_navigation ${catkin_LIBRARIES} ${OsqpEigen_LIBRARIES}) # no need to add spider_controllib
+target_link_libraries(spidar_navigation ${catkin_LIBRARIES} ${OsqpEigen_LIBRARIES}) # no need to add spidar_controllib
 
 
 #############
@@ -226,7 +226,7 @@ target_link_libraries(spider_navigation ${catkin_LIBRARIES} ${OsqpEigen_LIBRARIE
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_spider.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_spidar.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/robots/spidar/bin/rosbag_play_spider.sh b/robots/spidar/bin/rosbag_play_spider.sh
new file mode 100755
index 000000000..28fd9504c
--- /dev/null
+++ b/robots/spidar/bin/rosbag_play_spider.sh
@@ -0,0 +1,3 @@
+#!/bin/bash
+
+rosbag play $1 --pause --clock /spidar/joints_ctrl:=/spidar/joints_ctrl_orig /spidar/joints_torque_ctrl:=/spidar/joints_torque_ctrl_orig /spidar/debug/pose/pid:=/spidar/debug/pose/pid_orig /spidar/four_axes/command:=/spidar/four_axes/command_orig /spidar/debug/target_vectoring_force:=/spidar/debug/target_vectoring_force_orig /spidar/servo/target_states:=/spidar/servo/target_states_orig ${@:2}
diff --git a/robots/spider/config/octo/Battery.yaml b/robots/spidar/config/octo/Battery.yaml
similarity index 100%
rename from robots/spider/config/octo/Battery.yaml
rename to robots/spidar/config/octo/Battery.yaml
diff --git a/robots/spider/config/octo/MotorInfo.yaml b/robots/spidar/config/octo/MotorInfo.yaml
similarity index 100%
rename from robots/spider/config/octo/MotorInfo.yaml
rename to robots/spidar/config/octo/MotorInfo.yaml
diff --git a/robots/spider/config/octo/RvizInit.yaml b/robots/spidar/config/octo/RvizInit.yaml
similarity index 100%
rename from robots/spider/config/octo/RvizInit.yaml
rename to robots/spidar/config/octo/RvizInit.yaml
diff --git a/robots/spider/config/octo/Servo.yaml b/robots/spidar/config/octo/Servo.yaml
similarity index 100%
rename from robots/spider/config/octo/Servo.yaml
rename to robots/spidar/config/octo/Servo.yaml
diff --git a/robots/spider/config/octo/Simulation.yaml b/robots/spidar/config/octo/Simulation.yaml
similarity index 100%
rename from robots/spider/config/octo/Simulation.yaml
rename to robots/spidar/config/octo/Simulation.yaml
diff --git a/robots/spider/config/octo/StateEstimation.yaml b/robots/spidar/config/octo/StateEstimation.yaml
similarity index 100%
rename from robots/spider/config/octo/StateEstimation.yaml
rename to robots/spidar/config/octo/StateEstimation.yaml
diff --git a/robots/spider/config/octo/control/FullVectoringControlConfig.yaml b/robots/spidar/config/octo/control/FullVectoringControlConfig.yaml
similarity index 100%
rename from robots/spider/config/octo/control/FullVectoringControlConfig.yaml
rename to robots/spidar/config/octo/control/FullVectoringControlConfig.yaml
diff --git a/robots/spider/config/octo/control/LQIGimbalControlConfig.yaml b/robots/spidar/config/octo/control/LQIGimbalControlConfig.yaml
similarity index 100%
rename from robots/spider/config/octo/control/LQIGimbalControlConfig.yaml
rename to robots/spidar/config/octo/control/LQIGimbalControlConfig.yaml
diff --git a/robots/spider/config/octo/control/WalkControlConfig.yaml b/robots/spidar/config/octo/control/WalkControlConfig.yaml
similarity index 96%
rename from robots/spider/config/octo/control/WalkControlConfig.yaml
rename to robots/spidar/config/octo/control/WalkControlConfig.yaml
index 48f284da4..fae5a371e 100644
--- a/robots/spider/config/octo/control/WalkControlConfig.yaml
+++ b/robots/spidar/config/octo/control/WalkControlConfig.yaml
@@ -1,4 +1,4 @@
-aerial_robot_control_name: aerial_robot_control/spider_walk
+aerial_robot_control_name: aerial_robot_control/spidar_walk
 
 controller:
 
diff --git a/robots/spider/config/octo/model/FullVectoringRobotModel.yaml b/robots/spidar/config/octo/model/FullVectoringRobotModel.yaml
similarity index 87%
rename from robots/spider/config/octo/model/FullVectoringRobotModel.yaml
rename to robots/spidar/config/octo/model/FullVectoringRobotModel.yaml
index d0d808ef9..11af87858 100644
--- a/robots/spider/config/octo/model/FullVectoringRobotModel.yaml
+++ b/robots/spidar/config/octo/model/FullVectoringRobotModel.yaml
@@ -1,6 +1,6 @@
 ### full vectoring robot model
 
-robot_model_plugin_name: spider/full_vectoring_robot_model
+robot_model_plugin_name: spidar/full_vectoring_robot_model
 
 # gimbal lock
 debug_verbose: false
diff --git a/robots/spider/config/octo/model/GroundRobotModel.yaml b/robots/spidar/config/octo/model/GroundRobotModel.yaml
similarity index 90%
rename from robots/spider/config/octo/model/GroundRobotModel.yaml
rename to robots/spidar/config/octo/model/GroundRobotModel.yaml
index 045861300..decbb6f6a 100644
--- a/robots/spider/config/octo/model/GroundRobotModel.yaml
+++ b/robots/spidar/config/octo/model/GroundRobotModel.yaml
@@ -1,6 +1,6 @@
 ### full vectoring robot model
 
-robot_model_plugin_name: spider/ground_robot_model
+robot_model_plugin_name: spidar/ground_robot_model
 
 # gimbal lock
 debug_verbose: false
diff --git a/robots/spider/config/octo/model/HydrusLikeRobotModel.yaml b/robots/spidar/config/octo/model/HydrusLikeRobotModel.yaml
similarity index 65%
rename from robots/spider/config/octo/model/HydrusLikeRobotModel.yaml
rename to robots/spidar/config/octo/model/HydrusLikeRobotModel.yaml
index 48ece61d2..db77a040c 100644
--- a/robots/spider/config/octo/model/HydrusLikeRobotModel.yaml
+++ b/robots/spidar/config/octo/model/HydrusLikeRobotModel.yaml
@@ -1,6 +1,6 @@
 # robot model plugin
 
-robot_model_plugin_name: spider/hydrus_like_robot_model
+robot_model_plugin_name: spidar/hydrus_like_robot_model
 
 fc_rp_min_thre: 2.2
 rp_position_margin_thre: 0.1 # deprecated
diff --git a/robots/spider/config/octo/navigate/FlightNavigateConfig.yaml b/robots/spidar/config/octo/navigate/FlightNavigateConfig.yaml
similarity index 91%
rename from robots/spider/config/octo/navigate/FlightNavigateConfig.yaml
rename to robots/spidar/config/octo/navigate/FlightNavigateConfig.yaml
index de00547ed..748a8ff70 100644
--- a/robots/spider/config/octo/navigate/FlightNavigateConfig.yaml
+++ b/robots/spidar/config/octo/navigate/FlightNavigateConfig.yaml
@@ -1,6 +1,6 @@
 # Teleop Basic Param
 
-flight_navigation_plugin_name: aerial_robot_navigation/spider/flight_navigation
+flight_navigation_plugin_name: aerial_robot_navigation/spidar/flight_navigation
 
 navigation:
   xy_control_mode: 0
diff --git a/robots/spider/config/octo/navigate/WalkNavigateConfig.yaml b/robots/spidar/config/octo/navigate/WalkNavigateConfig.yaml
similarity index 96%
rename from robots/spider/config/octo/navigate/WalkNavigateConfig.yaml
rename to robots/spidar/config/octo/navigate/WalkNavigateConfig.yaml
index a431b87d7..69acec01b 100644
--- a/robots/spider/config/octo/navigate/WalkNavigateConfig.yaml
+++ b/robots/spidar/config/octo/navigate/WalkNavigateConfig.yaml
@@ -1,6 +1,6 @@
 # Teleop Basic Param
 
-flight_navigation_plugin_name: aerial_robot_navigation/spider/walk_navigation
+flight_navigation_plugin_name: aerial_robot_navigation/spidar/walk_navigation
 
 navigation:
   xy_control_mode: 0
diff --git a/robots/spider/config/rviz_config b/robots/spidar/config/rviz_config
similarity index 81%
rename from robots/spider/config/rviz_config
rename to robots/spidar/config/rviz_config
index 832639363..640eafa19 100644
--- a/robots/spider/config/rviz_config
+++ b/robots/spidar/config/rviz_config
@@ -448,7 +448,7 @@ Visualization Manager:
           Show Trail: false
       Name: RobotModel
       Robot Description: robot_description
-      TF Prefix: spider
+      TF Prefix: spidar
       Update Interval: 0
       Value: true
       Visual Enabled: true
@@ -457,167 +457,167 @@ Visualization Manager:
       Frame Timeout: 15
       Frames:
         All Enabled: true
-        spider/bat1:
+        spidar/bat1:
           Value: true
-        spider/bat2:
+        spidar/bat2:
           Value: true
-        spider/bat3:
+        spidar/bat3:
           Value: true
-        spider/bat4:
+        spidar/bat4:
           Value: true
-        spider/bat5:
+        spidar/bat5:
           Value: true
-        spider/bat6:
+        spidar/bat6:
           Value: true
-        spider/bat7:
+        spidar/bat7:
           Value: true
-        spider/bat8:
+        spidar/bat8:
           Value: true
-        spider/center_link:
+        spidar/center_link:
           Value: true
-        spider/cog:
+        spidar/cog:
           Value: true
-        spider/edf1_left:
+        spidar/edf1_left:
           Value: true
-        spider/edf1_right:
+        spidar/edf1_right:
           Value: true
-        spider/edf2_left:
+        spidar/edf2_left:
           Value: true
-        spider/edf2_right:
+        spidar/edf2_right:
           Value: true
-        spider/edf3_left:
+        spidar/edf3_left:
           Value: true
-        spider/edf3_right:
+        spidar/edf3_right:
           Value: true
-        spider/edf4_left:
+        spidar/edf4_left:
           Value: true
-        spider/edf4_right:
+        spidar/edf4_right:
           Value: true
-        spider/edf5_left:
+        spidar/edf5_left:
           Value: true
-        spider/edf5_right:
+        spidar/edf5_right:
           Value: true
-        spider/edf6_left:
+        spidar/edf6_left:
           Value: true
-        spider/edf6_right:
+        spidar/edf6_right:
           Value: true
-        spider/edf7_left:
+        spidar/edf7_left:
           Value: true
-        spider/edf7_right:
+        spidar/edf7_right:
           Value: true
-        spider/edf8_left:
+        spidar/edf8_left:
           Value: true
-        spider/edf8_right:
+        spidar/edf8_right:
           Value: true
-        spider/end_leg2:
+        spidar/end_leg2:
           Value: true
-        spider/end_leg4:
+        spidar/end_leg4:
           Value: true
-        spider/end_leg6:
+        spidar/end_leg6:
           Value: true
-        spider/end_leg8:
+        spidar/end_leg8:
           Value: true
-        spider/fc:
+        spidar/fc:
           Value: true
-        spider/gimbal1_pitch_module:
+        spidar/gimbal1_pitch_module:
           Value: true
-        spider/gimbal1_roll_module:
+        spidar/gimbal1_roll_module:
           Value: true
-        spider/gimbal2_pitch_module:
+        spidar/gimbal2_pitch_module:
           Value: true
-        spider/gimbal2_roll_module:
+        spidar/gimbal2_roll_module:
           Value: true
-        spider/gimbal3_pitch_module:
+        spidar/gimbal3_pitch_module:
           Value: true
-        spider/gimbal3_roll_module:
+        spidar/gimbal3_roll_module:
           Value: true
-        spider/gimbal4_pitch_module:
+        spidar/gimbal4_pitch_module:
           Value: true
-        spider/gimbal4_roll_module:
+        spidar/gimbal4_roll_module:
           Value: true
-        spider/gimbal5_pitch_module:
+        spidar/gimbal5_pitch_module:
           Value: true
-        spider/gimbal5_roll_module:
+        spidar/gimbal5_roll_module:
           Value: true
-        spider/gimbal6_pitch_module:
+        spidar/gimbal6_pitch_module:
           Value: true
-        spider/gimbal6_roll_module:
+        spidar/gimbal6_roll_module:
           Value: true
-        spider/gimbal7_pitch_module:
+        spidar/gimbal7_pitch_module:
           Value: true
-        spider/gimbal7_roll_module:
+        spidar/gimbal7_roll_module:
           Value: true
-        spider/gimbal8_pitch_module:
+        spidar/gimbal8_pitch_module:
           Value: true
-        spider/gimbal8_roll_module:
+        spidar/gimbal8_roll_module:
           Value: true
-        spider/joint_junction_leg1:
+        spidar/joint_junction_leg1:
           Value: true
-        spider/joint_junction_leg2:
+        spidar/joint_junction_leg2:
           Value: true
-        spider/joint_junction_leg3:
+        spidar/joint_junction_leg3:
           Value: true
-        spider/joint_junction_leg4:
+        spidar/joint_junction_leg4:
           Value: true
-        spider/joint_junction_leg5:
+        spidar/joint_junction_leg5:
           Value: true
-        spider/joint_junction_leg6:
+        spidar/joint_junction_leg6:
           Value: true
-        spider/joint_junction_leg7:
+        spidar/joint_junction_leg7:
           Value: true
-        spider/joint_junction_leg8:
+        spidar/joint_junction_leg8:
           Value: true
-        spider/joint_junction_link1:
+        spidar/joint_junction_link1:
           Value: true
-        spider/joint_junction_link2:
+        spidar/joint_junction_link2:
           Value: true
-        spider/joint_junction_link3:
+        spidar/joint_junction_link3:
           Value: true
-        spider/joint_junction_link4:
+        spidar/joint_junction_link4:
           Value: true
-        spider/joint_junction_link5:
+        spidar/joint_junction_link5:
           Value: true
-        spider/joint_junction_link6:
+        spidar/joint_junction_link6:
           Value: true
-        spider/joint_junction_link7:
+        spidar/joint_junction_link7:
           Value: true
-        spider/joint_junction_link8:
+        spidar/joint_junction_link8:
           Value: true
-        spider/link1:
+        spidar/link1:
           Value: true
-        spider/link2:
+        spidar/link2:
           Value: true
-        spider/link3:
+        spidar/link3:
           Value: true
-        spider/link4:
+        spidar/link4:
           Value: true
-        spider/link5:
+        spidar/link5:
           Value: true
-        spider/link6:
+        spidar/link6:
           Value: true
-        spider/link7:
+        spidar/link7:
           Value: true
-        spider/link8:
+        spidar/link8:
           Value: true
-        spider/pc:
+        spidar/pc:
           Value: true
-        spider/root:
+        spidar/root:
           Value: true
-        spider/thrust1:
+        spidar/thrust1:
           Value: true
-        spider/thrust2:
+        spidar/thrust2:
           Value: true
-        spider/thrust3:
+        spidar/thrust3:
           Value: true
-        spider/thrust4:
+        spidar/thrust4:
           Value: true
-        spider/thrust5:
+        spidar/thrust5:
           Value: true
-        spider/thrust6:
+        spidar/thrust6:
           Value: true
-        spider/thrust7:
+        spidar/thrust7:
           Value: true
-        spider/thrust8:
+        spidar/thrust8:
           Value: true
         world:
           Value: true
@@ -628,133 +628,133 @@ Visualization Manager:
       Show Names: true
       Tree:
         world:
-          spider/root:
-            spider/center_link:
-              spider/fc:
+          spidar/root:
+            spidar/center_link:
+              spidar/fc:
                 {}
-              spider/joint_junction_link1:
-                spider/joint_junction_leg1:
+              spidar/joint_junction_link1:
+                spidar/joint_junction_leg1:
                   {}
-                spider/link1:
-                  spider/bat1:
+                spidar/link1:
+                  spidar/bat1:
                     {}
-                  spider/gimbal1_roll_module:
-                    spider/gimbal1_pitch_module:
-                      spider/edf1_left:
+                  spidar/gimbal1_roll_module:
+                    spidar/gimbal1_pitch_module:
+                      spidar/edf1_left:
                         {}
-                      spider/edf1_right:
+                      spidar/edf1_right:
                         {}
-                      spider/thrust1:
+                      spidar/thrust1:
                         {}
-                  spider/joint_junction_link2:
-                    spider/joint_junction_leg2:
+                  spidar/joint_junction_link2:
+                    spidar/joint_junction_leg2:
                       {}
-                    spider/link2:
-                      spider/bat2:
+                    spidar/link2:
+                      spidar/bat2:
                         {}
-                      spider/end_leg2:
+                      spidar/end_leg2:
                         {}
-                      spider/gimbal2_roll_module:
-                        spider/gimbal2_pitch_module:
-                          spider/edf2_left:
+                      spidar/gimbal2_roll_module:
+                        spidar/gimbal2_pitch_module:
+                          spidar/edf2_left:
                             {}
-                          spider/edf2_right:
+                          spidar/edf2_right:
                             {}
-                          spider/thrust2:
+                          spidar/thrust2:
                             {}
-              spider/joint_junction_link3:
-                spider/joint_junction_leg3:
+              spidar/joint_junction_link3:
+                spidar/joint_junction_leg3:
                   {}
-                spider/link3:
-                  spider/bat3:
+                spidar/link3:
+                  spidar/bat3:
                     {}
-                  spider/gimbal3_roll_module:
-                    spider/gimbal3_pitch_module:
-                      spider/edf3_left:
+                  spidar/gimbal3_roll_module:
+                    spidar/gimbal3_pitch_module:
+                      spidar/edf3_left:
                         {}
-                      spider/edf3_right:
+                      spidar/edf3_right:
                         {}
-                      spider/thrust3:
+                      spidar/thrust3:
                         {}
-                  spider/joint_junction_link4:
-                    spider/joint_junction_leg4:
+                  spidar/joint_junction_link4:
+                    spidar/joint_junction_leg4:
                       {}
-                    spider/link4:
-                      spider/bat4:
+                    spidar/link4:
+                      spidar/bat4:
                         {}
-                      spider/end_leg4:
+                      spidar/end_leg4:
                         {}
-                      spider/gimbal4_roll_module:
-                        spider/gimbal4_pitch_module:
-                          spider/edf4_left:
+                      spidar/gimbal4_roll_module:
+                        spidar/gimbal4_pitch_module:
+                          spidar/edf4_left:
                             {}
-                          spider/edf4_right:
+                          spidar/edf4_right:
                             {}
-                          spider/thrust4:
+                          spidar/thrust4:
                             {}
-              spider/joint_junction_link5:
-                spider/joint_junction_leg5:
+              spidar/joint_junction_link5:
+                spidar/joint_junction_leg5:
                   {}
-                spider/link5:
-                  spider/bat5:
+                spidar/link5:
+                  spidar/bat5:
                     {}
-                  spider/gimbal5_roll_module:
-                    spider/gimbal5_pitch_module:
-                      spider/edf5_left:
+                  spidar/gimbal5_roll_module:
+                    spidar/gimbal5_pitch_module:
+                      spidar/edf5_left:
                         {}
-                      spider/edf5_right:
+                      spidar/edf5_right:
                         {}
-                      spider/thrust5:
+                      spidar/thrust5:
                         {}
-                  spider/joint_junction_link6:
-                    spider/joint_junction_leg6:
+                  spidar/joint_junction_link6:
+                    spidar/joint_junction_leg6:
                       {}
-                    spider/link6:
-                      spider/bat6:
+                    spidar/link6:
+                      spidar/bat6:
                         {}
-                      spider/end_leg6:
+                      spidar/end_leg6:
                         {}
-                      spider/gimbal6_roll_module:
-                        spider/gimbal6_pitch_module:
-                          spider/edf6_left:
+                      spidar/gimbal6_roll_module:
+                        spidar/gimbal6_pitch_module:
+                          spidar/edf6_left:
                             {}
-                          spider/edf6_right:
+                          spidar/edf6_right:
                             {}
-                          spider/thrust6:
+                          spidar/thrust6:
                             {}
-              spider/joint_junction_link7:
-                spider/joint_junction_leg7:
+              spidar/joint_junction_link7:
+                spidar/joint_junction_leg7:
                   {}
-                spider/link7:
-                  spider/bat7:
+                spidar/link7:
+                  spidar/bat7:
                     {}
-                  spider/gimbal7_roll_module:
-                    spider/gimbal7_pitch_module:
-                      spider/edf7_left:
+                  spidar/gimbal7_roll_module:
+                    spidar/gimbal7_pitch_module:
+                      spidar/edf7_left:
                         {}
-                      spider/edf7_right:
+                      spidar/edf7_right:
                         {}
-                      spider/thrust7:
+                      spidar/thrust7:
                         {}
-                  spider/joint_junction_link8:
-                    spider/joint_junction_leg8:
+                  spidar/joint_junction_link8:
+                    spidar/joint_junction_leg8:
                       {}
-                    spider/link8:
-                      spider/bat8:
+                    spidar/link8:
+                      spidar/bat8:
                         {}
-                      spider/end_leg8:
+                      spidar/end_leg8:
                         {}
-                      spider/gimbal8_roll_module:
-                        spider/gimbal8_pitch_module:
-                          spider/edf8_left:
+                      spidar/gimbal8_roll_module:
+                        spidar/gimbal8_pitch_module:
+                          spidar/edf8_left:
                             {}
-                          spider/edf8_right:
+                          spidar/edf8_right:
                             {}
-                          spider/thrust8:
+                          spidar/thrust8:
                             {}
-              spider/pc:
+              spidar/pc:
                 {}
-            spider/cog:
+            spidar/cog:
               {}
       Update Interval: 0
       Value: true
diff --git a/robots/spider/include/spider/control/walk_control.h b/robots/spidar/include/spidar/control/walk_control.h
similarity index 97%
rename from robots/spider/include/spider/control/walk_control.h
rename to robots/spidar/include/spidar/control/walk_control.h
index e6069217c..c6ebeb9f7 100644
--- a/robots/spider/include/spider/control/walk_control.h
+++ b/robots/spidar/include/spidar/control/walk_control.h
@@ -36,8 +36,8 @@
 #pragma once
 
 #include <aerial_robot_control/control/pose_linear_controller.h>
-#include <spider/model/ground_robot_model.h>
-#include <spider/navigation/walk_navigation.h>
+#include <spidar/model/ground_robot_model.h>
+#include <spidar/navigation/walk_navigation.h>
 #include <spinal/FourAxisCommand.h>
 #include <std_msgs/Float32MultiArray.h>
 #include <spinal/ServoTorqueCmd.h>
@@ -83,8 +83,8 @@ namespace aerial_robot_control
       ros::Subscriber joint_no_load_sub_;
       ros::ServiceServer joint_yaw_torque_srv_, joint_pitch_torque_srv_;
 
-      boost::shared_ptr<::Spider::GroundRobotModel> spider_robot_model_;
-      boost::shared_ptr<aerial_robot_navigation::Spider::WalkNavigator> spider_walk_navigator_;
+      boost::shared_ptr<::Spider::GroundRobotModel> spidar_robot_model_;
+      boost::shared_ptr<aerial_robot_navigation::Spider::WalkNavigator> spidar_walk_navigator_;
 
       std::vector<PID> walk_pid_controllers_;
       std::vector<boost::shared_ptr<PidControlDynamicConfig> > walk_pid_reconf_servers_;
diff --git a/robots/spider/include/spider/model/full_vectoring_robot_model.h b/robots/spidar/include/spidar/model/full_vectoring_robot_model.h
similarity index 100%
rename from robots/spider/include/spider/model/full_vectoring_robot_model.h
rename to robots/spidar/include/spidar/model/full_vectoring_robot_model.h
diff --git a/robots/spider/include/spider/model/ground_robot_model.h b/robots/spidar/include/spidar/model/ground_robot_model.h
similarity index 100%
rename from robots/spider/include/spider/model/ground_robot_model.h
rename to robots/spidar/include/spidar/model/ground_robot_model.h
diff --git a/robots/spider/include/spider/model/hydrus_like_robot_model.h b/robots/spidar/include/spidar/model/hydrus_like_robot_model.h
similarity index 100%
rename from robots/spider/include/spider/model/hydrus_like_robot_model.h
rename to robots/spidar/include/spidar/model/hydrus_like_robot_model.h
diff --git a/robots/spider/include/spider/navigation/flight_navigation.h b/robots/spidar/include/spidar/navigation/flight_navigation.h
similarity index 100%
rename from robots/spider/include/spider/navigation/flight_navigation.h
rename to robots/spidar/include/spidar/navigation/flight_navigation.h
diff --git a/robots/spider/include/spider/navigation/walk_navigation.h b/robots/spidar/include/spidar/navigation/walk_navigation.h
similarity index 98%
rename from robots/spider/include/spider/navigation/walk_navigation.h
rename to robots/spidar/include/spidar/navigation/walk_navigation.h
index dd51fa41b..094478ca8 100644
--- a/robots/spider/include/spider/navigation/walk_navigation.h
+++ b/robots/spidar/include/spidar/navigation/walk_navigation.h
@@ -36,7 +36,7 @@
 #pragma once
 
 #include <aerial_robot_control/flight_navigation.h>
-#include <spider/model/ground_robot_model.h>
+#include <spidar/model/ground_robot_model.h>
 #include <nav_msgs/Odometry.h>
 #include <geometry_msgs/PoseArray.h>
 #include <std_msgs/Float32MultiArray.h>
@@ -157,7 +157,7 @@ namespace aerial_robot_navigation
       ros::Publisher simulate_flight_config_pub_;
       ros::Subscriber simulate_flight_config_sub_;
 
-      boost::shared_ptr<::Spider::GroundRobotModel> spider_robot_model_;
+      boost::shared_ptr<::Spider::GroundRobotModel> spidar_robot_model_;
       boost::shared_ptr<aerial_robot_model::RobotModel> robot_model_for_nav_;
       aerial_robot_control::Spider::WalkController* walk_controller_;
 
diff --git a/robots/spider/launch/bringup.launch b/robots/spidar/launch/bringup.launch
similarity index 94%
rename from robots/spider/launch/bringup.launch
rename to robots/spidar/launch/bringup.launch
index cadfc5fd2..63744e50c 100644
--- a/robots/spider/launch/bringup.launch
+++ b/robots/spidar/launch/bringup.launch
@@ -21,8 +21,8 @@
   <arg name="spawn_z" default="0.4"/>
   <arg name="spawn_yaw" default="0.0"/>
   <arg name="robot_id" default=""/>
-  <arg name="robot_ns" value="spider$(arg robot_id)"/>
-  <arg name="config_dir" default="$(find spider)/config/$(arg type)"/>
+  <arg name="robot_ns" value="spidar$(arg robot_id)"/>
+  <arg name="config_dir" default="$(find spidar)/config/$(arg type)"/>
 
   ###########  Parameters  ###########
   <group ns="$(arg robot_ns)">
@@ -78,17 +78,17 @@
   <arg name="description_mode" value="gazebo" if="$(arg simulation)"/>
   <include file="$(find aerial_robot_model)/launch/aerial_robot_model.launch">
     <arg name="headless" value="$(arg headless)"/>
-    <arg name="robot_model" value="$(find spider)/robots/$(arg type)/$(arg onboards_model)/robot.$(arg description_mode).xacro" unless="$(arg direct_model)"/>
+    <arg name="robot_model" value="$(find spidar)/robots/$(arg type)/$(arg onboards_model)/robot.$(arg description_mode).xacro" unless="$(arg direct_model)"/>
     <arg name="robot_model" value="$(arg direct_model_name)" if="$(arg direct_model)"/>
     <arg name="robot_ns" value="$(arg robot_ns)"/>
-    <arg name="rviz_config" value="$(find spider)/config/rviz_config"/>
+    <arg name="rviz_config" value="$(find spidar)/config/rviz_config"/>
     <arg name="rviz_init_pose" value="$(arg config_dir)/RvizInit.yaml"/>
     <arg name="need_joint_state" value="false" if ="$(eval arg('simulation') + arg('real_machine') > 0)"/>
 
   </include>
 
   ###########  Sensors  ###########
-  <include file="$(find spider)/launch/includes/$(arg onboards_model)/sensors.launch.xml">
+  <include file="$(find spidar)/launch/includes/$(arg onboards_model)/sensors.launch.xml">
     <arg name="real_machine" value="$(arg real_machine)"/>
     <arg name="simulation" value="$(arg simulation)"/>
     <arg name="robot_ns" value="$(arg robot_ns)"/>
@@ -122,7 +122,7 @@
       <param name="controller16/simulation/init_value" value="1.5" />
     </group>
 
-    <node pkg="spider" type="gazebo_quick_init_pose.py" name="gazebo_quick_init_pose" ns="$(arg robot_ns)" output="screen" if = "$(eval arg('simulation') and not arg('real_machine'))">
+    <node pkg="spidar" type="gazebo_quick_init_pose.py" name="gazebo_quick_init_pose" ns="$(arg robot_ns)" output="screen" if = "$(eval arg('simulation') and not arg('real_machine'))">
       <rosparam subst_value="true">
         init_pos: [0, 0, 0.4]
       </rosparam>
diff --git a/robots/spider/launch/includes/v1_default/sensors.launch.xml b/robots/spidar/launch/includes/v1_default/sensors.launch.xml
similarity index 96%
rename from robots/spider/launch/includes/v1_default/sensors.launch.xml
rename to robots/spidar/launch/includes/v1_default/sensors.launch.xml
index 3b59dec72..4da92b56b 100644
--- a/robots/spider/launch/includes/v1_default/sensors.launch.xml
+++ b/robots/spidar/launch/includes/v1_default/sensors.launch.xml
@@ -2,7 +2,7 @@
 <launch>
   <arg name="real_machine" default="false" />
   <arg name="simulation" default="false" />
-  <arg name="robot_ns" default="spider" />
+  <arg name="robot_ns" default="spidar" />
 
   <group ns="$(arg robot_ns)">
 
diff --git a/robots/spider/launch/includes/v1_leg/sensors.launch.xml b/robots/spidar/launch/includes/v1_leg/sensors.launch.xml
similarity index 96%
rename from robots/spider/launch/includes/v1_leg/sensors.launch.xml
rename to robots/spidar/launch/includes/v1_leg/sensors.launch.xml
index 3b59dec72..4da92b56b 100644
--- a/robots/spider/launch/includes/v1_leg/sensors.launch.xml
+++ b/robots/spidar/launch/includes/v1_leg/sensors.launch.xml
@@ -2,7 +2,7 @@
 <launch>
   <arg name="real_machine" default="false" />
   <arg name="simulation" default="false" />
-  <arg name="robot_ns" default="spider" />
+  <arg name="robot_ns" default="spidar" />
 
   <group ns="$(arg robot_ns)">
 
diff --git a/robots/spider/package.xml b/robots/spidar/package.xml
similarity index 96%
rename from robots/spider/package.xml
rename to robots/spidar/package.xml
index 6d331a865..d8b26c438 100644
--- a/robots/spider/package.xml
+++ b/robots/spidar/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>spider</name>
+  <name>spidar</name>
   <version>0.0.0</version>
-  <description>The spider package</description>
+  <description>The spidar package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -19,7 +19,7 @@
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/spider</url> -->
+  <!-- <url type="website">http://wiki.ros.org/spidar</url> -->
 
 
   <!-- Author tags are optional, multiple are allowed, one per tag -->
diff --git a/robots/spidar/plugins/flight_control_plugins.xml b/robots/spidar/plugins/flight_control_plugins.xml
new file mode 100644
index 000000000..cda9db0d1
--- /dev/null
+++ b/robots/spidar/plugins/flight_control_plugins.xml
@@ -0,0 +1,7 @@
+<library path="lib/libspidar_controllib">
+
+  <class name="aerial_robot_control/spidar_walk" type="aerial_robot_control::Spider::WalkController" base_class_type="aerial_robot_control::ControlBase">
+    <description> spidar control plugin: walk control </description>
+  </class>
+
+</library>
diff --git a/robots/spidar/plugins/flight_navigation_plugin.xml b/robots/spidar/plugins/flight_navigation_plugin.xml
new file mode 100644
index 000000000..b683e6f35
--- /dev/null
+++ b/robots/spidar/plugins/flight_navigation_plugin.xml
@@ -0,0 +1,9 @@
+<library path="lib/libspidar_navigation">
+  <class name="aerial_robot_navigation/spidar/walk_navigation" type="aerial_robot_navigation::Spider::WalkNavigator" base_class_type="aerial_robot_navigation::BaseNavigator">
+    <description> spidar walk navigation plugin</description>
+  </class>
+
+  <class name="aerial_robot_navigation/spidar/flight_navigation" type="aerial_robot_navigation::Spider::FlightNavigator" base_class_type="aerial_robot_navigation::BaseNavigator">
+    <description> spidar flight navigation plugin</description>
+  </class>
+</library>
diff --git a/robots/spidar/plugins/robot_model_plugins.xml b/robots/spidar/plugins/robot_model_plugins.xml
new file mode 100644
index 000000000..72aa90bc1
--- /dev/null
+++ b/robots/spidar/plugins/robot_model_plugins.xml
@@ -0,0 +1,15 @@
+<library path="lib/libspidar_robot_model">
+
+  <class name="spidar/hydrus_like_robot_model" type="Spider::HydrusLikeRobotModel" base_class_type="aerial_robot_model::RobotModel">
+    <description>plugin for hydrus-like spidar robot model </description>
+  </class>
+
+  <class name="spidar/full_vectoring_robot_model" type="Spider::FullVectoringRobotModel" base_class_type="aerial_robot_model::RobotModel">
+    <description>plugin for full vectoring spidar robot model </description>
+  </class>
+
+  <class name="spidar/ground_robot_model" type="Spider::GroundRobotModel" base_class_type="aerial_robot_model::RobotModel">
+    <description>plugin for fround spidar robot model </description>
+  </class>
+
+</library>
diff --git a/robots/spidar/robots/octo/spidar_v1_base.urdf.xacro b/robots/spidar/robots/octo/spidar_v1_base.urdf.xacro
new file mode 100644
index 000000000..5ffa7621a
--- /dev/null
+++ b/robots/spidar/robots/octo/spidar_v1_base.urdf.xacro
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spidar_v1" >
+
+  <xacro:include filename="$(find spidar)/urdf/v1/link.urdf.xacro" />
+
+  <xacro:macro name="spidar_v1" params="battery:=1 leg:=1 end_leg:=1">
+    <xacro:spidar_center_link child1="1" child2="3" child3="5" child4="7" leg="${leg}"/>
+    <xacro:spidar_link self="1" child="2" link_type="general" battery="${battery}" leg="${leg}"/>
+    <xacro:spidar_link self="2" child="2" link_type="end"     battery="${battery}" leg="${end_leg}"/>
+    <xacro:spidar_link self="3" child="4" link_type="general" battery="${battery}" leg="${leg}"/>
+    <xacro:spidar_link self="4" child="4" link_type="end"     battery="${battery}" leg="${end_leg}"/>
+    <xacro:spidar_link self="5" child="6" link_type="general" battery="${battery}" leg="${leg}"/>
+    <xacro:spidar_link self="6" child="6" link_type="end"     battery="${battery}" leg="${end_leg}"/>
+    <xacro:spidar_link self="7" child="8" link_type="general" battery="${battery}" leg="${leg}"/>
+    <xacro:spidar_link self="8" child="8" link_type="end"     battery="${battery}" leg="${end_leg}"/>
+  </xacro:macro>
+
+</robot>
diff --git a/robots/spider/robots/octo/v1_default/robot.gazebo.xacro b/robots/spidar/robots/octo/v1_default/robot.gazebo.xacro
similarity index 61%
rename from robots/spider/robots/octo/v1_default/robot.gazebo.xacro
rename to robots/spidar/robots/octo/v1_default/robot.gazebo.xacro
index 0605bc4f9..0ae4cebad 100644
--- a/robots/spider/robots/octo/v1_default/robot.gazebo.xacro
+++ b/robots/spidar/robots/octo/v1_default/robot.gazebo.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot
-    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spider_v1" >
-  <xacro:arg name="robot_name" default="spider" />
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spidar_v1" >
+  <xacro:arg name="robot_name" default="spidar" />
 
-  <xacro:include filename="$(find spider)/robots/octo/v1_default/robot.urdf.xacro" />
+  <xacro:include filename="$(find spidar)/robots/octo/v1_default/robot.urdf.xacro" />
 
   <!-- gazebo plugin for default controller and sensors -->
   <xacro:include filename="$(find aerial_robot_simulation)/xacro/spinal.gazebo.xacro" />
diff --git a/robots/spider/robots/octo/v1_default/robot.urdf.xacro b/robots/spidar/robots/octo/v1_default/robot.urdf.xacro
similarity index 81%
rename from robots/spider/robots/octo/v1_default/robot.urdf.xacro
rename to robots/spidar/robots/octo/v1_default/robot.urdf.xacro
index 15193202c..fbb8b20f4 100644
--- a/robots/spider/robots/octo/v1_default/robot.urdf.xacro
+++ b/robots/spidar/robots/octo/v1_default/robot.urdf.xacro
@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
 <robot
-    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spider" >
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spidar" >
 
-  <xacro:include filename="$(find spider)/robots/octo/spider_v1_base.urdf.xacro" />
+  <xacro:include filename="$(find spidar)/robots/octo/spidar_v1_base.urdf.xacro" />
 
-  <xacro:spider_v1/>
+  <xacro:spidar_v1/>
 
   #### flight controller ####
   <xacro:extra_module name = "fc" parent = "center_link" visible = "1"
-                      model_url = "package://spider/urdf/v1/mesh/board/spinal.dae">
+                      model_url = "package://spidar/urdf/v1/mesh/board/spinal.dae">
     <origin xyz="-0.0129 -0.0044 0.0398284" rpy="0 0 0"/>
     <inertial>
       <mass value="0.0354160"/>
diff --git a/robots/spider/robots/octo/v1_leg/robot.gazebo.xacro b/robots/spidar/robots/octo/v1_leg/robot.gazebo.xacro
similarity index 83%
rename from robots/spider/robots/octo/v1_leg/robot.gazebo.xacro
rename to robots/spidar/robots/octo/v1_leg/robot.gazebo.xacro
index b3038679e..92befd89e 100644
--- a/robots/spider/robots/octo/v1_leg/robot.gazebo.xacro
+++ b/robots/spidar/robots/octo/v1_leg/robot.gazebo.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot
-    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spider_v1" >
-  <xacro:arg name="robot_name" default="spider" />
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spidar_v1" >
+  <xacro:arg name="robot_name" default="spidar" />
 
-  <xacro:include filename="$(find spider)/robots/octo/v1_leg/robot.urdf.xacro" />
+  <xacro:include filename="$(find spidar)/robots/octo/v1_leg/robot.urdf.xacro" />
 
   <!-- gazebo plugin for default controller and sensors -->
   <xacro:include filename="$(find aerial_robot_simulation)/xacro/spinal.gazebo.xacro" />
diff --git a/robots/spider/robots/octo/v1_leg/robot.urdf.xacro b/robots/spidar/robots/octo/v1_leg/robot.urdf.xacro
similarity index 84%
rename from robots/spider/robots/octo/v1_leg/robot.urdf.xacro
rename to robots/spidar/robots/octo/v1_leg/robot.urdf.xacro
index 2c4d62d3f..c854d7249 100644
--- a/robots/spider/robots/octo/v1_leg/robot.urdf.xacro
+++ b/robots/spidar/robots/octo/v1_leg/robot.urdf.xacro
@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
 <robot
-    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spider" >
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spidar" >
 
-  <xacro:include filename="$(find spider)/robots/octo/spider_v1_base.urdf.xacro" />
+  <xacro:include filename="$(find spidar)/robots/octo/spidar_v1_base.urdf.xacro" />
 
-  <!-- <xacro:spider_v1 end_leg="false" battery="false"/> -->
-  <xacro:spider_v1 end_leg="false" />
+  <!-- <xacro:spidar_v1 end_leg="false" battery="false"/> -->
+  <xacro:spidar_v1 end_leg="false" />
 
   #### flight controller ####
   <xacro:extra_module name = "fc" parent = "center_link" visible = "1"
-                      model_url = "package://spider/urdf/v1/mesh/board/spinal.dae">
+                      model_url = "package://spidar/urdf/v1/mesh/board/spinal.dae">
     <origin xyz="-0.0129 -0.0044 0.0398284" rpy="0 0 0"/>
     <inertial>
       <mass value="0.0354160"/>
@@ -50,7 +50,7 @@
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
 	<geometry>
-          <mesh filename="package://spider/urdf/v1/mesh/leg/leg_cap.dae"/>
+          <mesh filename="package://spidar/urdf/v1/mesh/leg/leg_cap.dae"/>
 	</geometry>
       </visual>
       <collision>
diff --git a/robots/spider/script/gazebo_quick_init_pose.py b/robots/spidar/script/gazebo_quick_init_pose.py
similarity index 98%
rename from robots/spider/script/gazebo_quick_init_pose.py
rename to robots/spidar/script/gazebo_quick_init_pose.py
index 69a843947..0da65d3b9 100755
--- a/robots/spider/script/gazebo_quick_init_pose.py
+++ b/robots/spidar/script/gazebo_quick_init_pose.py
@@ -65,7 +65,7 @@ def servoCb(self, msg):
 
 if __name__ == "__main__":
 
-    rospy.init_node("spider_init_pose")
+    rospy.init_node("spidar_init_pose")
     pose_controller = InitPose()
 
 
diff --git a/robots/spider/script/servo_cofig.py b/robots/spidar/script/servo_cofig.py
similarity index 98%
rename from robots/spider/script/servo_cofig.py
rename to robots/spidar/script/servo_cofig.py
index 696eb1d82..c2e5529c3 100755
--- a/robots/spider/script/servo_cofig.py
+++ b/robots/spidar/script/servo_cofig.py
@@ -7,7 +7,7 @@
 from argparse import ArgumentParser
 
 
-rospy.init_node("spider_neuron_configure")
+rospy.init_node("spidar_neuron_configure")
 
 parser = ArgumentParser()
 parser.add_argument('-n', nargs='+', dest="neuron_id", help='board id(s) to configure')
diff --git a/robots/spider/script/spider_octo_transformation.py b/robots/spidar/script/spider_octo_transformation.py
similarity index 92%
rename from robots/spider/script/spider_octo_transformation.py
rename to robots/spidar/script/spider_octo_transformation.py
index 26b992373..0aa947722 100755
--- a/robots/spider/script/spider_octo_transformation.py
+++ b/robots/spidar/script/spider_octo_transformation.py
@@ -7,10 +7,10 @@
 
 class SpiderOctoTransformation:
     def __init__(self):
-        rospy.init_node('spider_octo_transformation')
+        rospy.init_node('spidar_octo_transformation')
         self.joint_state = JointState()
-        self.pub = rospy.Publisher('/spider/joints_ctrl', JointState, queue_size = 1)
-        self.sub = rospy.Subscriber('/spider/joint_states', JointState, self.jointStateCallback)
+        self.pub = rospy.Publisher('/spidar/joints_ctrl', JointState, queue_size = 1)
+        self.sub = rospy.Subscriber('/spidar/joint_states', JointState, self.jointStateCallback)
 
         rospy.sleep(0.5)
 
diff --git a/robots/spider/src/control/walk_control.cpp b/robots/spidar/src/control/walk_control.cpp
similarity index 94%
rename from robots/spider/src/control/walk_control.cpp
rename to robots/spidar/src/control/walk_control.cpp
index a69b68c73..1851b451f 100644
--- a/robots/spider/src/control/walk_control.cpp
+++ b/robots/spidar/src/control/walk_control.cpp
@@ -33,7 +33,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#include <spider/control/walk_control.h>
+#include <spidar/control/walk_control.h>
 
 using namespace aerial_robot_model;
 using namespace aerial_robot_control::Spider;
@@ -63,9 +63,9 @@ void WalkController::initialize(ros::NodeHandle nh, ros::NodeHandle nhp,
   PoseLinearController::initialize(nh, nhp, robot_model, estimator, navigator, ctrl_loop_rate);
   rosParamInit();
 
-  spider_robot_model_ = boost::dynamic_pointer_cast<::Spider::GroundRobotModel>(robot_model);
-  spider_walk_navigator_ = boost::dynamic_pointer_cast<aerial_robot_navigation::Spider::WalkNavigator>(navigator);
-  spider_walk_navigator_->setController(this);
+  spidar_robot_model_ = boost::dynamic_pointer_cast<::Spider::GroundRobotModel>(robot_model);
+  spidar_walk_navigator_ = boost::dynamic_pointer_cast<aerial_robot_navigation::Spider::WalkNavigator>(navigator);
+  spidar_walk_navigator_->setController(this);
 
   /* initialize the gimbal target angles */
   target_base_thrust_.resize(motor_num_);
@@ -88,8 +88,8 @@ void WalkController::initialize(ros::NodeHandle nh, ros::NodeHandle nhp,
   joint_pitch_torque_srv_ = nh_.advertiseService<std_srvs::SetBool::Request, std_srvs::SetBool::Response>("joint_pitch/torque_enable", boost::bind(&WalkController::servoTorqueCtrlCallback, this, _1, _2, "pitch"));
   joint_force_compliance_sub_ = nh_.subscribe<std_msgs::Empty>("joint_force_compliance", 1, &WalkController::jointSoftComplianceCallback, this);
 
-  target_joint_angles_.name = spider_robot_model_->getLinkJointNames();
-  int joint_num = spider_robot_model_->getLinkJointNames().size();
+  target_joint_angles_.name = spidar_robot_model_->getLinkJointNames();
+  int joint_num = spidar_robot_model_->getLinkJointNames().size();
   target_joint_angles_.position.assign(joint_num, 0);
   prior_raise_leg_target_joint_angles_ = target_joint_angles_;
 
@@ -208,7 +208,7 @@ bool WalkController::update()
   ControlBase::update();
 
   // skip before the model initialization
-  if (spider_robot_model_->getMass() == 0) {
+  if (spidar_robot_model_->getMass() == 0) {
     return false;
   }
 
@@ -249,9 +249,9 @@ void WalkController::thrustControl()
   tf::Vector3 baselink_vel = estimator_->getVel(Frame::BASELINK, estimate_mode_);
   tf::Vector3 baselink_rpy = estimator_->getEuler(Frame::BASELINK, estimate_mode_);
 
-  tf::Vector3 baselink_target_pos = spider_walk_navigator_->getTargetBaselinkPos();
-  tf::Vector3 baselink_target_vel = spider_walk_navigator_->getTargetBaselinkVel();
-  tf::Vector3 baselink_target_rpy = spider_walk_navigator_->getTargetBaselinkRpy();
+  tf::Vector3 baselink_target_pos = spidar_walk_navigator_->getTargetBaselinkPos();
+  tf::Vector3 baselink_target_vel = spidar_walk_navigator_->getTargetBaselinkVel();
+  tf::Vector3 baselink_target_rpy = spidar_walk_navigator_->getTargetBaselinkRpy();
 
   // 1. feed-forwared control: compensate the static balance
   target_vectoring_f_ = static_thrust_force_;
@@ -298,13 +298,13 @@ void WalkController::thrustControl()
 
   // constant modification in raise different case
   // a) raise phase
-  if (spider_walk_navigator_->getRaiseLegFlag() && !raise_transition_) {
+  if (spidar_walk_navigator_->getRaiseLegFlag() && !raise_transition_) {
 
-    int leg_id = spider_walk_navigator_->getFreeleg();
+    int leg_id = spidar_walk_navigator_->getFreeleg();
     int j = 4 * leg_id + 1;
     double angle = getCurrentJointAngles().at(j);
-    double target_angle = spider_walk_navigator_->getTargetJointState().position.at(j);
-    bool raise_converge = spider_walk_navigator_->isRaiseLegConverge();
+    double target_angle = spidar_walk_navigator_->getTargetJointState().position.at(j);
+    bool raise_converge = spidar_walk_navigator_->isRaiseLegConverge();
 
     double t = ros::Time::now().toSec();
     if (t - prev_t_ > check_interval_) {
@@ -326,9 +326,9 @@ void WalkController::thrustControl()
   }
 
   // b) lower phase
-  if (spider_walk_navigator_->getLowerLegFlag()) {
+  if (spidar_walk_navigator_->getLowerLegFlag()) {
 
-    int leg_id = spider_walk_navigator_->getFreeleg();
+    int leg_id = spidar_walk_navigator_->getFreeleg();
     int j = 4 * leg_id + 1;
     double angle = getCurrentJointAngles().at(j);
     double target_angle = target_joint_angles_.position.at(j);
@@ -354,12 +354,12 @@ void WalkController::thrustControl()
   }
 
   // c) burst thrust force for better raising
-  if (spider_walk_navigator_->getRaiseLegFlag() &&
-      !spider_walk_navigator_->isRaiseLegConverge()) {
-    int leg_id = spider_walk_navigator_->getFreeleg();
+  if (spidar_walk_navigator_->getRaiseLegFlag() &&
+      !spidar_walk_navigator_->isRaiseLegConverge()) {
+    int leg_id = spidar_walk_navigator_->getFreeleg();
     int j = 4 * leg_id + 1;
     double angle = getCurrentJointAngles().at(j);
-    double target_angle = spider_walk_navigator_->getTargetJointState().position.at(j);
+    double target_angle = spidar_walk_navigator_->getTargetJointState().position.at(j);
 
     double err = angle - target_angle - raise_leg_burst_bias_;
     err = std::max(err, 0.0); // err should be non-nengative
@@ -440,8 +440,8 @@ void WalkController::thrustControl()
   // allocation
   // use all vecotoring angles
   // consider cog and baselink are all level
-  const auto rotors_origin = spider_robot_model_->getRotorsOriginFromCog<Eigen::Vector3d>();
-  const auto links_rot = spider_robot_model_->getLinksRotationFromCog<Eigen::Matrix3d>();
+  const auto rotors_origin = spidar_robot_model_->getRotorsOriginFromCog<Eigen::Vector3d>();
+  const auto links_rot = spidar_robot_model_->getLinksRotationFromCog<Eigen::Matrix3d>();
 
   // Note: only consider the inside links
   Eigen::MatrixXd q_mat = Eigen::MatrixXd::Zero(6, 3 * motor_num_ / 2);
@@ -463,9 +463,9 @@ void WalkController::thrustControl()
 
   // 3. feed-back control: link-wise rotation control
   Eigen::VectorXd fb_vectoring_l = Eigen::VectorXd::Zero(3 * motor_num_);
-  auto target_link_rots = spider_walk_navigator_->getTargetLinkRots();
-  const auto& seg_tf_map = spider_robot_model_->getSegmentsTf();
-  KDL::Frame fr_baselink = seg_tf_map.at(spider_robot_model_->getBaselinkName());
+  auto target_link_rots = spidar_walk_navigator_->getTargetLinkRots();
+  const auto& seg_tf_map = spidar_robot_model_->getSegmentsTf();
+  KDL::Frame fr_baselink = seg_tf_map.at(spidar_robot_model_->getBaselinkName());
   tf::Transform tf_w_baselink(estimator_->getOrientation(Frame::BASELINK, estimate_mode_), baselink_pos);
   KDL::Frame fw_baselink;
   tf::transformTFToKDL(tf_w_baselink, fw_baselink);
@@ -487,7 +487,7 @@ void WalkController::thrustControl()
     // negative means the pivot point is the leg end point
     int direct = -1;
 
-    if (i / 2 == spider_walk_navigator_->getFreeleg()) {
+    if (i / 2 == spidar_walk_navigator_->getFreeleg()) {
       // no contorl for free leg which may induce unstability
       continue;
     }
@@ -568,7 +568,7 @@ void WalkController::jointControl()
   }
 
   // basically, use position control for all joints
-  auto navi_target_joint_angles = spider_walk_navigator_->getTargetJointState().position;
+  auto navi_target_joint_angles = spidar_walk_navigator_->getTargetJointState().position;
   target_joint_angles_.position = navi_target_joint_angles;
   if (prev_navi_target_joint_angles_.size() == 0) {
     prev_navi_target_joint_angles_ = navi_target_joint_angles;
@@ -601,9 +601,9 @@ void WalkController::jointControl()
 
     // modification for target joint angle
 
-    bool raise_flag = spider_walk_navigator_->getRaiseLegFlag();
-    bool raise_converge = spider_walk_navigator_->isRaiseLegConverge();
-    int free_leg_id = spider_walk_navigator_->getFreeleg();
+    bool raise_flag = spidar_walk_navigator_->getRaiseLegFlag();
+    bool raise_converge = spidar_walk_navigator_->isRaiseLegConverge();
+    int free_leg_id = spidar_walk_navigator_->getFreeleg();
 
     for(int i = 0; i < joint_num; i++) {
       double tor = static_joint_torque_(i);
@@ -741,11 +741,11 @@ void WalkController::jointControl()
     }
 
     // heuristic rule for joints in free leg
-    if (leg_id == spider_walk_navigator_->getFreeleg()) {
+    if (leg_id == spidar_walk_navigator_->getFreeleg()) {
 
       prev_navi_target_joint_angles_.at(i) = navi_target_joint_angles.at(i);
-      bool lower_flag = spider_walk_navigator_->getLowerLegFlag();
-      bool raise_flag = spider_walk_navigator_->getRaiseLegFlag();
+      bool lower_flag = spidar_walk_navigator_->getLowerLegFlag();
+      bool raise_flag = spidar_walk_navigator_->getRaiseLegFlag();
       std::string status = raise_flag?std::string("raise"):std::string("lower");
 
       if (j % 2 == 0) {
@@ -783,9 +783,9 @@ void WalkController::jointControl()
     }
 
     // heuristic rule for joints in rest of the legs when there is a free leg
-    // if ((leg_id + leg_num / 2) % leg_num == spider_walk_navigator_->getFreeleg()) {
-    if (spider_walk_navigator_->getFreeleg() != -1 &&
-        leg_id != spider_walk_navigator_->getFreeleg()) {
+    // if ((leg_id + leg_num / 2) % leg_num == spidar_walk_navigator_->getFreeleg()) {
+    if (spidar_walk_navigator_->getFreeleg() != -1 &&
+        leg_id != spidar_walk_navigator_->getFreeleg()) {
 
       if (j % 2 == 0) {
         // inner joint (e.g., joint5_pitch)
@@ -905,11 +905,11 @@ void WalkController::jointControl()
 void WalkController::calcStaticBalance()
 {
   using orig = aerial_robot_model::RobotModel;
-  const KDL::JntArray gimbal_processed_joint = spider_robot_model_->getGimbalProcessedJoint<KDL::JntArray>();
-  const std::vector<KDL::Rotation> links_rotation_from_cog = spider_robot_model_->getLinksRotationFromCog<KDL::Rotation>();
-  const int joint_num = spider_robot_model_->getJointNum();
-  const int link_joint_num = spider_robot_model_->getLinkJointIndices().size();
-  const int rotor_num = spider_robot_model_->getRotorNum();
+  const KDL::JntArray gimbal_processed_joint = spidar_robot_model_->getGimbalProcessedJoint<KDL::JntArray>();
+  const std::vector<KDL::Rotation> links_rotation_from_cog = spidar_robot_model_->getLinksRotationFromCog<KDL::Rotation>();
+  const int joint_num = spidar_robot_model_->getJointNum();
+  const int link_joint_num = spidar_robot_model_->getLinkJointIndices().size();
+  const int rotor_num = spidar_robot_model_->getRotorNum();
   const int fr_ndof = 3 * rotor_num;
 
   Eigen::MatrixXd A1_fr_all = Eigen::MatrixXd::Zero(joint_num, fr_ndof);
@@ -918,7 +918,7 @@ void WalkController::calcStaticBalance()
   for (int i = 0; i < rotor_num; i++) {
     std::string seg_name = std::string("thrust") + std::to_string(i + 1);
     Eigen::MatrixXd jac
-      = spider_robot_model_->orig::getJacobian(gimbal_processed_joint, seg_name).topRows(3);
+      = spidar_robot_model_->orig::getJacobian(gimbal_processed_joint, seg_name).topRows(3);
     Eigen::MatrixXd r = aerial_robot_model::kdlToEigen(links_rotation_from_cog.at(i));
     // describe force w.r.t. local (link) frame
     A1_fr_all.middleCols(3 * i, 3) = -jac.rightCols(joint_num).transpose() * r;
@@ -926,7 +926,7 @@ void WalkController::calcStaticBalance()
   }
 
   const int leg_num = rotor_num / 2;
-  int free_leg_id = spider_walk_navigator_->getFreeleg();
+  int free_leg_id = spidar_walk_navigator_->getFreeleg();
   if (free_leg_id >= leg_num)
     {
       ROS_WARN_ONCE("[Spider][Walk][Static] the untouch leg ID exceeds the total leg number, force reset to -1");
@@ -962,7 +962,7 @@ void WalkController::calcStaticBalance()
 
   Eigen::VectorXd b1_all = Eigen::VectorXd::Zero(joint_num);
   Eigen::VectorXd b2 = Eigen::VectorXd::Zero(6);
-  for(const auto& inertia : spider_robot_model_->getInertiaMap()) {
+  for(const auto& inertia : spidar_robot_model_->getInertiaMap()) {
 
     // describe jacobian w.r.t the world frame, thus need baselink rotation
     Eigen::MatrixXd jac
@@ -970,7 +970,7 @@ void WalkController::calcStaticBalance()
                                          inertia.first,
                                          inertia.second.getCOG())).topRows(3);
 
-    Eigen::VectorXd g = inertia.second.getMass() * (-spider_robot_model_->getGravity3d());
+    Eigen::VectorXd g = inertia.second.getMass() * (-spidar_robot_model_->getGravity3d());
     b1_all -= jac.rightCols(joint_num).transpose() * g;
     b2 += jac.leftCols(6).transpose() * g;
   }
@@ -982,7 +982,7 @@ void WalkController::calcStaticBalance()
 
   cnt = 0;
   for(int i = 0; i < joint_num; i++) {
-    if(spider_robot_model_->getJointNames().at(i) == spider_robot_model_->getLinkJointNames().at(cnt))
+    if(spidar_robot_model_->getJointNames().at(i) == spidar_robot_model_->getLinkJointNames().at(cnt))
       {
         A1_fe.row(cnt) = A1_fe_all.row(i);
         A1_fr.row(cnt) = A1_fr_all.row(i);
@@ -1166,7 +1166,7 @@ void WalkController::startRaiseTransition()
   raise_static_thrust_force_ = static_thrust_force_; // record the thrust force for raise
   prev_t_ = ros::Time::now().toSec();
 
-  int free_leg_id = spider_walk_navigator_->getFreeleg();
+  int free_leg_id = spidar_walk_navigator_->getFreeleg();
   int i = free_leg_id * 4 + 1;
 
   prior_raise_leg_target_joint_angles_ = target_joint_angles_;
@@ -1178,7 +1178,7 @@ void WalkController::startLowerLeg()
   prev_t_ = ros::Time::now().toSec();
 
   auto current_angles = getCurrentJointAngles();
-  int leg_id = spider_walk_navigator_->getFreeleg();
+  int leg_id = spidar_walk_navigator_->getFreeleg();
   if (leg_id < 0) {
     ROS_ERROR_STREAM("[Spider][Walk][Thrust Control] no valid leg to lower, leg id is " << leg_id);
   }
@@ -1206,7 +1206,7 @@ bool WalkController::servoTorqueCtrlCallback(std_srvs::SetBool::Request &req, st
   if (name == std::string("yaw")) offset = 0;
   if (name == std::string("pitch")) offset = 1;
 
-  int rotor_num = spider_robot_model_->getRotorNum();
+  int rotor_num = spidar_robot_model_->getRotorNum();
   spinal::ServoTorqueCmd servo_enable_msg;
   for (int i = 0; i < rotor_num; i++) {
     servo_enable_msg.index.push_back(4 * i + offset);
@@ -1260,7 +1260,7 @@ void WalkController::cfgPidCallback(aerial_robot_control::PidControlConfig &conf
 // utils
 void WalkController::setJointIndexMap()
 {
-  const auto current_joint_state = spider_robot_model_->getGimbalProcessedJoint<sensor_msgs::JointState>();
+  const auto current_joint_state = spidar_robot_model_->getGimbalProcessedJoint<sensor_msgs::JointState>();
   const auto& search_v = current_joint_state.name;
 
   joint_index_map_.resize(0); // resize
@@ -1282,7 +1282,7 @@ void WalkController::setJointIndexMap()
 
 std::vector<double> WalkController::getCurrentJointAngles()
 {
-  const auto current_joint_state = spider_robot_model_->getGimbalProcessedJoint<sensor_msgs::JointState>();
+  const auto current_joint_state = spidar_robot_model_->getGimbalProcessedJoint<sensor_msgs::JointState>();
   std::vector<double> angles(0);
   for(const auto id: joint_index_map_) {
     angles.push_back(current_joint_state.position.at(id));
diff --git a/robots/spider/src/model/full_vectoring_robot_model.cpp b/robots/spidar/src/model/full_vectoring_robot_model.cpp
similarity index 98%
rename from robots/spider/src/model/full_vectoring_robot_model.cpp
rename to robots/spidar/src/model/full_vectoring_robot_model.cpp
index 8da61bc7f..6ae914d55 100644
--- a/robots/spider/src/model/full_vectoring_robot_model.cpp
+++ b/robots/spidar/src/model/full_vectoring_robot_model.cpp
@@ -33,7 +33,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#include <spider/model/full_vectoring_robot_model.h>
+#include <spidar/model/full_vectoring_robot_model.h>
 
 using namespace Spider;
 
diff --git a/robots/spider/src/model/ground_robot_model.cpp b/robots/spidar/src/model/ground_robot_model.cpp
similarity index 99%
rename from robots/spider/src/model/ground_robot_model.cpp
rename to robots/spidar/src/model/ground_robot_model.cpp
index 1ee9e3faa..ddcd3127b 100644
--- a/robots/spider/src/model/ground_robot_model.cpp
+++ b/robots/spidar/src/model/ground_robot_model.cpp
@@ -33,7 +33,7 @@
  *  POSSIBILITY OF SUCH DAMAGE.
  *********************************************************************/
 
-#include <spider/model/ground_robot_model.h>
+#include <spidar/model/ground_robot_model.h>
 #include <OsqpEigen/OsqpEigen.h>
 
 using namespace Spider;
diff --git a/robots/spider/src/model/hydrus_like_robot_model.cpp b/robots/spidar/src/model/hydrus_like_robot_model.cpp
similarity index 94%
rename from robots/spider/src/model/hydrus_like_robot_model.cpp
rename to robots/spidar/src/model/hydrus_like_robot_model.cpp
index a6d3b0fea..356cf81ca 100644
--- a/robots/spider/src/model/hydrus_like_robot_model.cpp
+++ b/robots/spidar/src/model/hydrus_like_robot_model.cpp
@@ -1,4 +1,4 @@
-#include <spider/model/hydrus_like_robot_model.h>
+#include <spidar/model/hydrus_like_robot_model.h>
 
 using namespace Spider;
 
diff --git a/robots/spider/src/navigation/flight_navigation.cpp b/robots/spidar/src/navigation/flight_navigation.cpp
similarity index 98%
rename from robots/spider/src/navigation/flight_navigation.cpp
rename to robots/spidar/src/navigation/flight_navigation.cpp
index 5d0b89b16..534ef8364 100644
--- a/robots/spider/src/navigation/flight_navigation.cpp
+++ b/robots/spidar/src/navigation/flight_navigation.cpp
@@ -1,4 +1,4 @@
-#include <spider/navigation/flight_navigation.h>
+#include <spidar/navigation/flight_navigation.h>
 
 using namespace aerial_robot_navigation;
 using namespace aerial_robot_navigation::Spider;
diff --git a/robots/spider/src/navigation/walk_navigation.cpp b/robots/spidar/src/navigation/walk_navigation.cpp
similarity index 97%
rename from robots/spider/src/navigation/walk_navigation.cpp
rename to robots/spidar/src/navigation/walk_navigation.cpp
index 6dc4f12ed..6628478a0 100644
--- a/robots/spider/src/navigation/walk_navigation.cpp
+++ b/robots/spidar/src/navigation/walk_navigation.cpp
@@ -1,5 +1,5 @@
-#include <spider/navigation/walk_navigation.h>
-#include <spider/control/walk_control.h>
+#include <spidar/navigation/walk_navigation.h>
+#include <spidar/control/walk_control.h>
 
 using namespace aerial_robot_model;
 using namespace aerial_robot_navigation::Spider;
@@ -31,7 +31,7 @@ void WalkNavigator::initialize(ros::NodeHandle nh, ros::NodeHandle nhp,
   /* initialize the flight control */
   BaseNavigator::initialize(nh, nhp, robot_model, estimator);
 
-  spider_robot_model_ = boost::dynamic_pointer_cast<::Spider::GroundRobotModel>(robot_model);
+  spidar_robot_model_ = boost::dynamic_pointer_cast<::Spider::GroundRobotModel>(robot_model);
   robot_model_for_nav_ = boost::make_shared<aerial_robot_model::RobotModel>();
 
 
@@ -63,7 +63,7 @@ void WalkNavigator::initialize(ros::NodeHandle nh, ros::NodeHandle nhp,
     }
     sensor_msgs::JointState joint_msg = simulated_joint_state_;
     joint_msg.header.stamp = ros::Time::now();
-    for(int i = 0; i < spider_robot_model_->getRotorNum(); i++) {
+    for(int i = 0; i < spidar_robot_model_->getRotorNum(); i++) {
       joint_msg.name.push_back(std::string("gimbal") + std::to_string(i+1) + std::string("_roll"));
       joint_msg.name.push_back(std::string("gimbal") + std::to_string(i+1) + std::string("_pitch"));
       joint_msg.position.push_back(0);
@@ -269,7 +269,7 @@ void WalkNavigator::walkPattern()
 
       // instant update to the target joint angle
       if (walk_simulation_) {
-        spider_robot_model_->updateRobotModel(target_joint_state_);
+        spidar_robot_model_->updateRobotModel(target_joint_state_);
 
         for(int i = 0; i < simulated_joint_state_.position.size(); i++) {
           std::string name = simulated_joint_state_.name.at(i);
@@ -334,7 +334,7 @@ void WalkNavigator::update()
   BaseNavigator::update();
 
   // skip before the model initialization
-  if (spider_robot_model_->getMass() == 0) {
+  if (spidar_robot_model_->getMass() == 0) {
     return;
   }
 
@@ -351,7 +351,7 @@ void WalkNavigator::update()
   if (target_joint_state_.name.size() == 0) {
 
     // initialize the target joint
-    target_joint_state_.name = spider_robot_model_->getLinkJointNames();
+    target_joint_state_.name = spidar_robot_model_->getLinkJointNames();
     target_joint_state_.position.resize(target_joint_state_.name.size());
 
     // set (initialize) joint index map
@@ -365,19 +365,19 @@ void WalkNavigator::update()
 
   // target link rotation
   if (target_link_rots_.size() == 0) {
-    target_link_rots_.resize(spider_robot_model_->getRotorNum());
+    target_link_rots_.resize(spidar_robot_model_->getRotorNum());
   }
 
   // get current leg position w.r.t. world frame
-  const auto& seg_tf_map = spider_robot_model_->getSegmentsTf();
+  const auto& seg_tf_map = spidar_robot_model_->getSegmentsTf();
   if(seg_tf_map.size() == 0) return;
   tf::Transform tf_w_baselink(estimator_->getOrientation(Frame::BASELINK, estimate_mode_), baselink_pos);
   KDL::Frame fw_baselink;
   tf::transformTFToKDL(tf_w_baselink, fw_baselink);
 
   std::vector<KDL::Frame> curr_leg_ends;
-  const int leg_num = spider_robot_model_->getRotorNum() / 2;
-  KDL::Frame fr_baselink = seg_tf_map.at(spider_robot_model_->getBaselinkName());
+  const int leg_num = spidar_robot_model_->getRotorNum() / 2;
+  KDL::Frame fr_baselink = seg_tf_map.at(spidar_robot_model_->getBaselinkName());
   for (int i = 0; i < leg_num; i++) {
     std::string frame_name = std::string("link") + std::to_string(2 * (i + 1)) + std::string("_foot");
     KDL::Frame fr_end = seg_tf_map.at(frame_name); // w.r.t. root link
@@ -576,7 +576,7 @@ void WalkNavigator::update()
   ROS_DEBUG_STREAM_THROTTLE(1.0, "[Spider][Walk][Navigator] analytical joint angles from leg end and baselink: " << ss.str());
 
   // get the target link orientation
-  auto joint_state = spider_robot_model_->getGimbalProcessedJoint<sensor_msgs::JointState>();
+  auto joint_state = spidar_robot_model_->getGimbalProcessedJoint<sensor_msgs::JointState>();
   for(int i = 0; i < joint_index_map_.size(); i++) {
     auto id = joint_index_map_.at(i);
     joint_state.position.at(id) = target_angles.at(i);
@@ -584,7 +584,7 @@ void WalkNavigator::update()
 
   robot_model_for_nav_->updateRobotModel(joint_state);
   const auto& target_seg_tf_map = robot_model_for_nav_->getSegmentsTf();
-  for(int i = 0; i < spider_robot_model_->getRotorNum(); i++) {
+  for(int i = 0; i < spidar_robot_model_->getRotorNum(); i++) {
     std::string link_name = std::string("link") + std::to_string(i+1);
     KDL::Frame fr_target_link = target_seg_tf_map.at(link_name);
     KDL::Frame fb_target_link = fr_baselink.Inverse() * fr_target_link;
@@ -656,7 +656,7 @@ void WalkNavigator::simulate()
   }
   sensor_msgs::JointState joint_msg = simulated_joint_state_;
   joint_msg.header.stamp = ros::Time::now();
-  for(int i = 0; i < spider_robot_model_->getRotorNum(); i++) {
+  for(int i = 0; i < spidar_robot_model_->getRotorNum(); i++) {
     joint_msg.name.push_back(std::string("gimbal") + std::to_string(i+1) + std::string("_roll"));
     joint_msg.name.push_back(std::string("gimbal") + std::to_string(i+1) + std::string("_pitch"));
     joint_msg.position.push_back(0);
@@ -684,7 +684,7 @@ void WalkNavigator::failSafeAction()
 
   // pitch joint of opposite of raise leg
   if (raise_leg_flag_) {
-    int leg_num = spider_robot_model_->getRotorNum() / 2;
+    int leg_num = spidar_robot_model_->getRotorNum() / 2;
     int leg_id = (free_leg_id_ + leg_num / 2) % leg_num;
     int j = 4 * leg_id + 1;
     double target_angle = target_joint_state_.position.at(j);
@@ -714,7 +714,7 @@ void WalkNavigator::resetTargetLegEnds(std::vector<KDL::Frame> frames)
 
 void WalkNavigator::setJointIndexMap()
 {
-  const auto joint_state = spider_robot_model_->getGimbalProcessedJoint<sensor_msgs::JointState>();
+  const auto joint_state = spidar_robot_model_->getGimbalProcessedJoint<sensor_msgs::JointState>();
   const auto& search_v = joint_state.name;
 
   joint_index_map_.resize(0); // resize
@@ -736,7 +736,7 @@ void WalkNavigator::setJointIndexMap()
 
 std::vector<double> WalkNavigator::getCurrentJointAngles()
 {
-  const auto joint_state = spider_robot_model_->getGimbalProcessedJoint<sensor_msgs::JointState>();
+  const auto joint_state = spidar_robot_model_->getGimbalProcessedJoint<sensor_msgs::JointState>();
   std::vector<double> angles(0);
   for(const auto id: joint_index_map_) {
     angles.push_back(joint_state.position.at(id));
@@ -774,7 +774,7 @@ void WalkNavigator::raiseLeg(int leg_id)
   raise_converge_ = false;
   lower_leg_flag_ = false;
 
-  spider_robot_model_->setFreeleg(free_leg_id_);
+  spidar_robot_model_->setFreeleg(free_leg_id_);
   walk_controller_->startRaiseTransition();
 }
 
@@ -791,7 +791,7 @@ void WalkNavigator::contactLeg()
   lower_leg_flag_ = false;
   raise_leg_flag_ = false;
   raise_converge_ = false;
-  spider_robot_model_->resetFreeleg();
+  spidar_robot_model_->resetFreeleg();
   walk_controller_->startContactTransition(free_leg_id_);
   free_leg_id_ = -1;
 }
diff --git a/robots/spider/test/spider_control.test b/robots/spidar/test/spider_control.test
similarity index 90%
rename from robots/spider/test/spider_control.test
rename to robots/spidar/test/spider_control.test
index 3103a963f..c19bb4183 100644
--- a/robots/spider/test/spider_control.test
+++ b/robots/spidar/test/spider_control.test
@@ -1,10 +1,10 @@
 <launch>
   <arg name="headless" default="False"/>
   <arg name="robot_id" default=""/>
-  <arg name="robot_ns" value="spider$(arg robot_id)"/>
+  <arg name="robot_ns" value="spidar$(arg robot_id)"/>
   <arg name="full_vectoring_mode"  default= "true" />
 
-  <include file="$(find spider)/launch/bringup.launch">
+  <include file="$(find spidar)/launch/bringup.launch">
     <arg name="real_machine" value="False" />
     <arg name="simulation" value="True" />
     <arg name="robot_id" value="$(arg robot_id)"/>
@@ -30,7 +30,7 @@
       init_joint_names: ['joint1_pitch', 'joint1_yaw', 'joint2_pitch', 'joint2_yaw', 'joint3_pitch', 'joint3_yaw', 'joint4_pitch', 'joint4_yaw', 'joint5_pitch', 'joint5_yaw', 'joint6_pitch', 'joint6_yaw', 'joint7_pitch', 'joint7_yaw', 'joint8_pitch', 'joint8_yaw']
       init_joint_angles: [0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
       tasks:
-        - command: "rosrun spider spider_octo_transformation.py -t 3000 -q 0.8 -0.8 0 0.8"
+        - command: "rosrun spidar spidar_octo_transformation.py -t 3000 -q 0.8 -0.8 0 0.8"
           threshold: [0.1, 0.08, 0.08]
           angle_threshold: 0.2
           timeout: 20
diff --git a/robots/spider/urdf/v1/common.xacro b/robots/spidar/urdf/v1/common.xacro
similarity index 96%
rename from robots/spider/urdf/v1/common.xacro
rename to robots/spidar/urdf/v1/common.xacro
index fc2f3f89c..e42fa8536 100644
--- a/robots/spider/urdf/v1/common.xacro
+++ b/robots/spidar/urdf/v1/common.xacro
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <robot
-    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spider_common" >
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spidar_common" >
 
   <!-- kinematics [m] -->
   <xacro:property name="general_link_length" value="0.523"/>
@@ -24,7 +24,7 @@
     <visual>
       <xacro:insert_block name="origin"/>
       <geometry>
-        <mesh filename="package://spider/urdf/v1/mesh/${type}.dae"/>
+        <mesh filename="package://spidar/urdf/v1/mesh/${type}.dae"/>
       </geometry>
     </visual>
   </xacro:macro>
diff --git a/robots/spider/urdf/v1/link.urdf.xacro b/robots/spidar/urdf/v1/link.urdf.xacro
similarity index 94%
rename from robots/spider/urdf/v1/link.urdf.xacro
rename to robots/spidar/urdf/v1/link.urdf.xacro
index 8b1776910..973077175 100644
--- a/robots/spider/urdf/v1/link.urdf.xacro
+++ b/robots/spidar/urdf/v1/link.urdf.xacro
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <robot
-    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spider_link">
-  <xacro:include filename="$(find spider)/urdf/v1/common.xacro" />
+    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spidar_link">
+  <xacro:include filename="$(find spidar)/urdf/v1/common.xacro" />
 
-  <xacro:macro name="spider_joint_junction_link" params="self child leg type">
+  <xacro:macro name="spidar_joint_junction_link" params="self child leg type">
     <link name="joint_junction_link${self}">
       <xacro:if value="${type == 'belt'}">
         <inertial>
@@ -57,7 +57,7 @@
     <xacro:joint_transmission joint="joint${self}_pitch"/>
 
     <xacro:if value="${leg == 1}">
-      <xacro:extra_module_with_collision name="joint_junction_leg${self}" parent="joint_junction_link${self}" visible="1" model_url="package://spider/urdf/v1/mesh/leg/long_leg.dae">
+      <xacro:extra_module_with_collision name="joint_junction_leg${self}" parent="joint_junction_link${self}" visible="1" model_url="package://spidar/urdf/v1/mesh/leg/long_leg.dae">
         <origin xyz="0 0 -0.0283" rpy="0 0 ${pi/2}"/>
         <inertial>
           <mass value="0.027"/>
@@ -73,7 +73,7 @@
   </xacro:macro>
 
   #### CENTER LINK ####
-  <xacro:macro name="spider_center_link" params="child1 child2 child3 child4 leg">
+  <xacro:macro name="spidar_center_link" params="child1 child2 child3 child4 leg">
     #### dummy root link for KDL ####
     <link name="root">
       <inertial>
@@ -114,10 +114,10 @@
     <xacro:friction link="center_link"/>
     <xacro:damping_factor link="center_link"/>
 
-    <xacro:spider_joint_junction_link self="${child1}" child="link${child1}" leg="${leg}" type="large_pitch_pulley"/>
-    <xacro:spider_joint_junction_link self="${child2}" child="link${child2}" leg="${leg}" type="large_pitch_pulley"/>
-    <xacro:spider_joint_junction_link self="${child3}" child="link${child3}" leg="${leg}" type="large_pitch_pulley"/>
-    <xacro:spider_joint_junction_link self="${child4}" child="link${child4}" leg="${leg}" type="large_pitch_pulley"/>
+    <xacro:spidar_joint_junction_link self="${child1}" child="link${child1}" leg="${leg}" type="large_pitch_pulley"/>
+    <xacro:spidar_joint_junction_link self="${child2}" child="link${child2}" leg="${leg}" type="large_pitch_pulley"/>
+    <xacro:spidar_joint_junction_link self="${child3}" child="link${child3}" leg="${leg}" type="large_pitch_pulley"/>
+    <xacro:spidar_joint_junction_link self="${child4}" child="link${child4}" leg="${leg}" type="large_pitch_pulley"/>
 
     #### joints ####
     <joint name="joint${child1}_yaw" type="revolute">
@@ -164,7 +164,7 @@
   </xacro:macro>
 
   #### LINK ####
-  <xacro:macro name="spider_link" params="self child link_type battery leg">
+  <xacro:macro name="spidar_link" params="self child link_type battery leg">
     #### link ####
     <link name="link${self}">
       <xacro:if value="${link_type == 'general'}">
@@ -277,7 +277,7 @@
 
     #### joint junction ####
     <xacro:unless value="${self == child}">
-      <xacro:spider_joint_junction_link self="${child}" child="link${child}" leg="${leg}" type="belt"/>
+      <xacro:spidar_joint_junction_link self="${child}" child="link${child}" leg="${leg}" type="belt"/>
     </xacro:unless>
 
     #### joints ####
@@ -324,7 +324,7 @@
     #### battery ####
     <xacro:if value="${battery == 1}">
       <xacro:extra_module name="bat${self}" parent="link${self}" visible="1"
-                          model_url="package://spider/urdf/v1/mesh/battery/ZIPPY-3000-25C-6S.dae">
+                          model_url="package://spidar/urdf/v1/mesh/battery/ZIPPY-3000-25C-6S.dae">
         <xacro:if value="${link_type == 'general'}">
           <origin xyz="0.430 0.0 -0.039" rpy="${-pi/2} 0 0"/>
         </xacro:if>
@@ -345,7 +345,7 @@
     <xacro:if value="${leg == 1}">
       <xacro:if value="${link_type == 'end'}">
         <xacro:extra_module_with_collision name="end_leg${self}" parent="link${self}" visible="1"
-                            model_url="package://spider/urdf/v1/mesh/leg/end_leg.dae">
+                            model_url="package://spidar/urdf/v1/mesh/leg/end_leg.dae">
           <origin xyz="${0.160 + 0.335} 0.0 0.0" rpy="0 0 0"/>
           <inertial>
             <mass value="0.055"/>
diff --git a/robots/spider/urdf/v1/mesh/battery/ZIPPY-3000-25C-6S.dae b/robots/spidar/urdf/v1/mesh/battery/ZIPPY-3000-25C-6S.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/battery/ZIPPY-3000-25C-6S.dae
rename to robots/spidar/urdf/v1/mesh/battery/ZIPPY-3000-25C-6S.dae
diff --git a/robots/spider/urdf/v1/mesh/board/spinal.dae b/robots/spidar/urdf/v1/mesh/board/spinal.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/board/spinal.dae
rename to robots/spidar/urdf/v1/mesh/board/spinal.dae
diff --git a/robots/spider/urdf/v1/mesh/leg/end_leg.dae b/robots/spidar/urdf/v1/mesh/leg/end_leg.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/leg/end_leg.dae
rename to robots/spidar/urdf/v1/mesh/leg/end_leg.dae
diff --git a/robots/spider/urdf/v1/mesh/leg/leg.dae b/robots/spidar/urdf/v1/mesh/leg/leg.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/leg/leg.dae
rename to robots/spidar/urdf/v1/mesh/leg/leg.dae
diff --git a/robots/spider/urdf/v1/mesh/leg/leg_cap.dae b/robots/spidar/urdf/v1/mesh/leg/leg_cap.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/leg/leg_cap.dae
rename to robots/spidar/urdf/v1/mesh/leg/leg_cap.dae
diff --git a/robots/spider/urdf/v1/mesh/leg/long_leg.dae b/robots/spidar/urdf/v1/mesh/leg/long_leg.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/leg/long_leg.dae
rename to robots/spidar/urdf/v1/mesh/leg/long_leg.dae
diff --git a/robots/spider/urdf/v1/mesh/link/center_link.dae b/robots/spidar/urdf/v1/mesh/link/center_link.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/link/center_link.dae
rename to robots/spidar/urdf/v1/mesh/link/center_link.dae
diff --git a/robots/spider/urdf/v1/mesh/link/end_link.dae b/robots/spidar/urdf/v1/mesh/link/end_link.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/link/end_link.dae
rename to robots/spidar/urdf/v1/mesh/link/end_link.dae
diff --git a/robots/spider/urdf/v1/mesh/link/general_link.dae b/robots/spidar/urdf/v1/mesh/link/general_link.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/link/general_link.dae
rename to robots/spidar/urdf/v1/mesh/link/general_link.dae
diff --git a/robots/spider/urdf/v1/mesh/link/joint_junction_link.dae b/robots/spidar/urdf/v1/mesh/link/joint_junction_link.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/link/joint_junction_link.dae
rename to robots/spidar/urdf/v1/mesh/link/joint_junction_link.dae
diff --git a/robots/spider/urdf/v1/mesh/link/joint_junction_link_large_pitch_pulley.dae b/robots/spidar/urdf/v1/mesh/link/joint_junction_link_large_pitch_pulley.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/link/joint_junction_link_large_pitch_pulley.dae
rename to robots/spidar/urdf/v1/mesh/link/joint_junction_link_large_pitch_pulley.dae
diff --git a/robots/spider/urdf/v1/mesh/link/pitch_link.dae b/robots/spidar/urdf/v1/mesh/link/pitch_link.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/link/pitch_link.dae
rename to robots/spidar/urdf/v1/mesh/link/pitch_link.dae
diff --git a/robots/spider/urdf/v1/mesh/link/roll_link.dae b/robots/spidar/urdf/v1/mesh/link/roll_link.dae
similarity index 100%
rename from robots/spider/urdf/v1/mesh/link/roll_link.dae
rename to robots/spidar/urdf/v1/mesh/link/roll_link.dae
diff --git a/robots/spider/bin/rosbag_play_spider.sh b/robots/spider/bin/rosbag_play_spider.sh
deleted file mode 100755
index dd41c7f43..000000000
--- a/robots/spider/bin/rosbag_play_spider.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/bin/bash
-
-rosbag play $1 --pause --clock /spider/joints_ctrl:=/spider/joints_ctrl_orig /spider/joints_torque_ctrl:=/spider/joints_torque_ctrl_orig /spider/debug/pose/pid:=/spider/debug/pose/pid_orig /spider/four_axes/command:=/spider/four_axes/command_orig /spider/debug/target_vectoring_force:=/spider/debug/target_vectoring_force_orig /spider/servo/target_states:=/spider/servo/target_states_orig ${@:2}
diff --git a/robots/spider/plugins/flight_control_plugins.xml b/robots/spider/plugins/flight_control_plugins.xml
deleted file mode 100644
index c35a70a82..000000000
--- a/robots/spider/plugins/flight_control_plugins.xml
+++ /dev/null
@@ -1,7 +0,0 @@
-<library path="lib/libspider_controllib">
-
-  <class name="aerial_robot_control/spider_walk" type="aerial_robot_control::Spider::WalkController" base_class_type="aerial_robot_control::ControlBase">
-    <description> spider control plugin: walk control </description>
-  </class>
-
-</library>
diff --git a/robots/spider/plugins/flight_navigation_plugin.xml b/robots/spider/plugins/flight_navigation_plugin.xml
deleted file mode 100644
index ff2cc17a5..000000000
--- a/robots/spider/plugins/flight_navigation_plugin.xml
+++ /dev/null
@@ -1,9 +0,0 @@
-<library path="lib/libspider_navigation">
-  <class name="aerial_robot_navigation/spider/walk_navigation" type="aerial_robot_navigation::Spider::WalkNavigator" base_class_type="aerial_robot_navigation::BaseNavigator">
-    <description> spider walk navigation plugin</description>
-  </class>
-
-  <class name="aerial_robot_navigation/spider/flight_navigation" type="aerial_robot_navigation::Spider::FlightNavigator" base_class_type="aerial_robot_navigation::BaseNavigator">
-    <description> spider flight navigation plugin</description>
-  </class>
-</library>
diff --git a/robots/spider/plugins/robot_model_plugins.xml b/robots/spider/plugins/robot_model_plugins.xml
deleted file mode 100644
index 664c84767..000000000
--- a/robots/spider/plugins/robot_model_plugins.xml
+++ /dev/null
@@ -1,15 +0,0 @@
-<library path="lib/libspider_robot_model">
-
-  <class name="spider/hydrus_like_robot_model" type="Spider::HydrusLikeRobotModel" base_class_type="aerial_robot_model::RobotModel">
-    <description>plugin for hydrus-like spider robot model </description>
-  </class>
-
-  <class name="spider/full_vectoring_robot_model" type="Spider::FullVectoringRobotModel" base_class_type="aerial_robot_model::RobotModel">
-    <description>plugin for full vectoring spider robot model </description>
-  </class>
-
-  <class name="spider/ground_robot_model" type="Spider::GroundRobotModel" base_class_type="aerial_robot_model::RobotModel">
-    <description>plugin for fround spider robot model </description>
-  </class>
-
-</library>
diff --git a/robots/spider/robots/octo/spider_v1_base.urdf.xacro b/robots/spider/robots/octo/spider_v1_base.urdf.xacro
deleted file mode 100644
index 96710d9da..000000000
--- a/robots/spider/robots/octo/spider_v1_base.urdf.xacro
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<robot
-    xmlns:xacro="http://www.ros.org/wiki/xacro" name="spider_v1" >
-
-  <xacro:include filename="$(find spider)/urdf/v1/link.urdf.xacro" />
-
-  <xacro:macro name="spider_v1" params="battery:=1 leg:=1 end_leg:=1">
-    <xacro:spider_center_link child1="1" child2="3" child3="5" child4="7" leg="${leg}"/>
-    <xacro:spider_link self="1" child="2" link_type="general" battery="${battery}" leg="${leg}"/>
-    <xacro:spider_link self="2" child="2" link_type="end"     battery="${battery}" leg="${end_leg}"/>
-    <xacro:spider_link self="3" child="4" link_type="general" battery="${battery}" leg="${leg}"/>
-    <xacro:spider_link self="4" child="4" link_type="end"     battery="${battery}" leg="${end_leg}"/>
-    <xacro:spider_link self="5" child="6" link_type="general" battery="${battery}" leg="${leg}"/>
-    <xacro:spider_link self="6" child="6" link_type="end"     battery="${battery}" leg="${end_leg}"/>
-    <xacro:spider_link self="7" child="8" link_type="general" battery="${battery}" leg="${leg}"/>
-    <xacro:spider_link self="8" child="8" link_type="end"     battery="${battery}" leg="${end_leg}"/>
-  </xacro:macro>
-
-</robot>