diff --git a/launch/chomp_planning_pipeline.launch.xml b/launch/ros1/chomp_planning_pipeline.launch.xml
similarity index 100%
rename from launch/chomp_planning_pipeline.launch.xml
rename to launch/ros1/chomp_planning_pipeline.launch.xml
diff --git a/launch/default_warehouse_db.launch b/launch/ros1/default_warehouse_db.launch
similarity index 100%
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rename to launch/ros1/default_warehouse_db.launch
diff --git a/launch/demo.launch b/launch/ros1/demo.launch
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rename to launch/ros1/demo.launch
diff --git a/launch/demo_chomp.launch b/launch/ros1/demo_chomp.launch
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diff --git a/launch/demo_gazebo.launch b/launch/ros1/demo_gazebo.launch
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diff --git a/launch/demo_lerp.launch b/launch/ros1/demo_lerp.launch
similarity index 100%
rename from launch/demo_lerp.launch
rename to launch/ros1/demo_lerp.launch
diff --git a/launch/demo_stomp.launch b/launch/ros1/demo_stomp.launch
similarity index 100%
rename from launch/demo_stomp.launch
rename to launch/ros1/demo_stomp.launch
diff --git a/launch/fake_moveit_controller_manager.launch.xml b/launch/ros1/fake_moveit_controller_manager.launch.xml
similarity index 100%
rename from launch/fake_moveit_controller_manager.launch.xml
rename to launch/ros1/fake_moveit_controller_manager.launch.xml
diff --git a/launch/franka_control.launch b/launch/ros1/franka_control.launch
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diff --git a/launch/joystick_control.launch b/launch/ros1/joystick_control.launch
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diff --git a/launch/lerp_planning_pipeline.launch.xml b/launch/ros1/lerp_planning_pipeline.launch.xml
similarity index 100%
rename from launch/lerp_planning_pipeline.launch.xml
rename to launch/ros1/lerp_planning_pipeline.launch.xml
diff --git a/launch/move_group.launch b/launch/ros1/move_group.launch
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diff --git a/launch/moveit.rviz b/launch/ros1/moveit.rviz
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diff --git a/launch/moveit_empty.rviz b/launch/ros1/moveit_empty.rviz
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diff --git a/launch/moveit_rviz.launch b/launch/ros1/moveit_rviz.launch
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rename from launch/moveit_rviz.launch
rename to launch/ros1/moveit_rviz.launch
diff --git a/launch/moveit_scene.rviz b/launch/ros1/moveit_scene.rviz
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rename from launch/moveit_scene.rviz
rename to launch/ros1/moveit_scene.rviz
diff --git a/launch/ompl-chomp_planning_pipeline.launch.xml b/launch/ros1/ompl-chomp_planning_pipeline.launch.xml
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rename from launch/ompl-chomp_planning_pipeline.launch.xml
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diff --git a/launch/ompl_planning_pipeline.launch.xml b/launch/ros1/ompl_planning_pipeline.launch.xml
similarity index 100%
rename from launch/ompl_planning_pipeline.launch.xml
rename to launch/ros1/ompl_planning_pipeline.launch.xml
diff --git a/launch/panda_moveit_sensor_manager.launch.xml b/launch/ros1/panda_moveit_sensor_manager.launch.xml
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rename from launch/panda_moveit_sensor_manager.launch.xml
rename to launch/ros1/panda_moveit_sensor_manager.launch.xml
diff --git a/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/launch/ros1/pilz_industrial_motion_planner_planning_pipeline.launch.xml
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rename from launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
rename to launch/ros1/pilz_industrial_motion_planner_planning_pipeline.launch.xml
diff --git a/launch/planning_context.launch b/launch/ros1/planning_context.launch
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rename to launch/ros1/planning_context.launch
diff --git a/launch/planning_pipeline.launch.xml b/launch/ros1/planning_pipeline.launch.xml
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rename from launch/planning_pipeline.launch.xml
rename to launch/ros1/planning_pipeline.launch.xml
diff --git a/launch/ros1/readme.md b/launch/ros1/readme.md
new file mode 100644
index 0000000..450971c
--- /dev/null
+++ b/launch/ros1/readme.md
@@ -0,0 +1,2 @@
+Files in this folder (panda_moveit_config/launch/ros1) are the ones generated by moveit_setup_assistant and/or made during ros1 era, as opposed to the files panda_moveit_config/launch are the ones initially generated by moveit_setup_assistant 2.5.4 on ROS Humble.
+Since they may be still functional and useful, they may not be fully tested, hence kept in this separate folder so that they are easily identified.
\ No newline at end of file
diff --git a/launch/ros_control_moveit_controller_manager.launch.xml b/launch/ros1/ros_control_moveit_controller_manager.launch.xml
similarity index 100%
rename from launch/ros_control_moveit_controller_manager.launch.xml
rename to launch/ros1/ros_control_moveit_controller_manager.launch.xml
diff --git a/launch/ros_controllers.launch b/launch/ros1/ros_controllers.launch
similarity index 100%
rename from launch/ros_controllers.launch
rename to launch/ros1/ros_controllers.launch
diff --git a/launch/run_benchmark_ompl.launch b/launch/ros1/run_benchmark_ompl.launch
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rename from launch/run_benchmark_ompl.launch
rename to launch/ros1/run_benchmark_ompl.launch
diff --git a/launch/run_benchmark_trajopt.launch b/launch/ros1/run_benchmark_trajopt.launch
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diff --git a/launch/sensor_manager.launch.xml b/launch/ros1/sensor_manager.launch.xml
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diff --git a/launch/setup_assistant.launch b/launch/ros1/setup_assistant.launch
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rename from launch/setup_assistant.launch
rename to launch/ros1/setup_assistant.launch
diff --git a/launch/simple_moveit_controller_manager.launch.xml b/launch/ros1/simple_moveit_controller_manager.launch.xml
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rename from launch/simple_moveit_controller_manager.launch.xml
rename to launch/ros1/simple_moveit_controller_manager.launch.xml
diff --git a/launch/stomp_planning_pipeline.launch.xml b/launch/ros1/stomp_planning_pipeline.launch.xml
similarity index 100%
rename from launch/stomp_planning_pipeline.launch.xml
rename to launch/ros1/stomp_planning_pipeline.launch.xml
diff --git a/launch/trajectory_execution.launch.xml b/launch/ros1/trajectory_execution.launch.xml
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rename from launch/trajectory_execution.launch.xml
rename to launch/ros1/trajectory_execution.launch.xml
diff --git a/launch/trajopt_planning_pipeline.launch.xml b/launch/ros1/trajopt_planning_pipeline.launch.xml
similarity index 100%
rename from launch/trajopt_planning_pipeline.launch.xml
rename to launch/ros1/trajopt_planning_pipeline.launch.xml
diff --git a/launch/warehouse.launch b/launch/ros1/warehouse.launch
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rename from launch/warehouse.launch
rename to launch/ros1/warehouse.launch
diff --git a/launch/warehouse_settings.launch.xml b/launch/ros1/warehouse_settings.launch.xml
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rename from launch/warehouse_settings.launch.xml
rename to launch/ros1/warehouse_settings.launch.xml