diff --git a/ros_web_api_bellande_2d_computer_vision/CMakeLists.txt b/ros_web_api_bellande_2d_computer_vision/CMakeLists.txt
new file mode 100644
index 0000000..a9601ab
--- /dev/null
+++ b/ros_web_api_bellande_2d_computer_vision/CMakeLists.txt
@@ -0,0 +1,51 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+cmake_minimum_required(VERSION 3.8)
+project(ros_web_api_bellande_2d_computer_vision)
+
+# Find ROS
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    rospy
+  )
+else()
+  find_package(ament_cmake REQUIRED COMPONENTS
+    rclcpp
+    rclpy
+  )
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    INCLUDE_DIRS
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS
+    roscpp
+    rospy
+  )
+endif()
+
+# Install Python scripts, configuration files, and launch files
+if($ENV{ROS_VERSION} EQUAL "1")
+    install(PROGRAMS src/bellande_2d_computer_vision_api_2d.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+    install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+elseif($ENV{ROS_VERSION} EQUAL "2")
+    install(PROGRAMS src/bellande_2d_computer_vision_api_2d.py DESTINATION lib/${PROJECT_NAME})
+    install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
+    install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
+endif()
diff --git a/ros_web_api_bellande_2d_computer_vision/README.md b/ros_web_api_bellande_2d_computer_vision/README.md
new file mode 100644
index 0000000..b78d1e8
--- /dev/null
+++ b/ros_web_api_bellande_2d_computer_vision/README.md
@@ -0,0 +1,3 @@
+# Bellande Search Path Web ROS/ROS2 API Intergration
+
+[Bellande Search Path](https://github.com/RonaldsonBellande/bellande_robots_step)
diff --git a/ros_web_api_bellande_2d_computer_vision/package.xml b/ros_web_api_bellande_2d_computer_vision/package.xml
new file mode 100644
index 0000000..5f655f3
--- /dev/null
+++ b/ros_web_api_bellande_2d_computer_vision/package.xml
@@ -0,0 +1,54 @@
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <https://www.gnu.org/licenses/>.
+-->
+
+<?xml version="1.0"?>
+<package format="3">
+  <name>ros_web_api_bellande_2d_computer_vision</name>
+  <version>0.0.1</version>
+  <description>Bellande ROS/ROS2 package with a JSON config file for making HTTP requests</description>
+  <author email="ronaldsonbellande@gmail.com">Ronaldson Bellande</author>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+  <license>Apache License 2.0</license>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">rospy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">rospy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">rospy</exec_depend>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 2">rclcpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rclpy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 2">rclcpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">rclpy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 2">rclcpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rclpy</exec_depend>
+
+
+  <export>
+  </export>
+</package>
diff --git a/ros_web_api_bellande_3d_computer_vision/CMakeLists.txt b/ros_web_api_bellande_3d_computer_vision/CMakeLists.txt
new file mode 100644
index 0000000..fffcc76
--- /dev/null
+++ b/ros_web_api_bellande_3d_computer_vision/CMakeLists.txt
@@ -0,0 +1,51 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+cmake_minimum_required(VERSION 3.8)
+project(ros_web_api_bellande_3d_computer_vision)
+
+# Find ROS
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    rospy
+  )
+else()
+  find_package(ament_cmake REQUIRED COMPONENTS
+    rclcpp
+    rclpy
+  )
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    INCLUDE_DIRS
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS
+    roscpp
+    rospy
+  )
+endif()
+
+# Install Python scripts, configuration files, and launch files
+if($ENV{ROS_VERSION} EQUAL "1")
+    install(PROGRAMS src/bellande_3d_computer_vision_api_2d.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+    install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+elseif($ENV{ROS_VERSION} EQUAL "2")
+    install(PROGRAMS src/bellande_3d_computer_vision_api_2d.py DESTINATION lib/${PROJECT_NAME})
+    install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
+    install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
+endif()
diff --git a/ros_web_api_bellande_3d_computer_vision/README.md b/ros_web_api_bellande_3d_computer_vision/README.md
new file mode 100644
index 0000000..b78d1e8
--- /dev/null
+++ b/ros_web_api_bellande_3d_computer_vision/README.md
@@ -0,0 +1,3 @@
+# Bellande Search Path Web ROS/ROS2 API Intergration
+
+[Bellande Search Path](https://github.com/RonaldsonBellande/bellande_robots_step)
diff --git a/ros_web_api_bellande_3d_computer_vision/package.xml b/ros_web_api_bellande_3d_computer_vision/package.xml
new file mode 100644
index 0000000..fe1214e
--- /dev/null
+++ b/ros_web_api_bellande_3d_computer_vision/package.xml
@@ -0,0 +1,54 @@
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <https://www.gnu.org/licenses/>.
+-->
+
+<?xml version="1.0"?>
+<package format="3">
+  <name>ros_web_api_bellande_3d_computer_vision</name>
+  <version>0.0.1</version>
+  <description>Bellande ROS/ROS2 package with a JSON config file for making HTTP requests</description>
+  <author email="ronaldsonbellande@gmail.com">Ronaldson Bellande</author>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+  <license>Apache License 2.0</license>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">rospy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">rospy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">rospy</exec_depend>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 2">rclcpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rclpy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 2">rclcpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">rclpy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 2">rclcpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rclpy</exec_depend>
+
+
+  <export>
+  </export>
+</package>
diff --git a/ros_web_api_bellande_adaptive_alternate_path_creation/CMakeLists.txt b/ros_web_api_bellande_adaptive_alternate_path_creation/CMakeLists.txt
new file mode 100644
index 0000000..533cc0a
--- /dev/null
+++ b/ros_web_api_bellande_adaptive_alternate_path_creation/CMakeLists.txt
@@ -0,0 +1,51 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+cmake_minimum_required(VERSION 3.8)
+project(ros_web_api_bellande_adaptive_alternate_path_creation)
+
+# Find ROS
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    rospy
+  )
+else()
+  find_package(ament_cmake REQUIRED COMPONENTS
+    rclcpp
+    rclpy
+  )
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    INCLUDE_DIRS
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS
+    roscpp
+    rospy
+  )
+endif()
+
+# Install Python scripts, configuration files, and launch files
+if($ENV{ROS_VERSION} EQUAL "1")
+    install(PROGRAMS src/bellande_adaptive_alternate_path_creation_api_2d.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+    install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+elseif($ENV{ROS_VERSION} EQUAL "2")
+    install(PROGRAMS src/bellande_adaptive_alternate_path_creation_api_2d.py DESTINATION lib/${PROJECT_NAME})
+    install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
+    install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
+endif()
diff --git a/ros_web_api_bellande_adaptive_alternate_path_creation/README.md b/ros_web_api_bellande_adaptive_alternate_path_creation/README.md
new file mode 100644
index 0000000..b78d1e8
--- /dev/null
+++ b/ros_web_api_bellande_adaptive_alternate_path_creation/README.md
@@ -0,0 +1,3 @@
+# Bellande Search Path Web ROS/ROS2 API Intergration
+
+[Bellande Search Path](https://github.com/RonaldsonBellande/bellande_robots_step)
diff --git a/ros_web_api_bellande_adaptive_alternate_path_creation/package.xml b/ros_web_api_bellande_adaptive_alternate_path_creation/package.xml
new file mode 100644
index 0000000..e6e5ed6
--- /dev/null
+++ b/ros_web_api_bellande_adaptive_alternate_path_creation/package.xml
@@ -0,0 +1,54 @@
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <https://www.gnu.org/licenses/>.
+-->
+
+<?xml version="1.0"?>
+<package format="3">
+  <name>ros_web_api_bellande_adaptive_alternate_path_creation</name>
+  <version>0.0.1</version>
+  <description>Bellande ROS/ROS2 package with a JSON config file for making HTTP requests</description>
+  <author email="ronaldsonbellande@gmail.com">Ronaldson Bellande</author>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+  <license>Apache License 2.0</license>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">rospy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">rospy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">rospy</exec_depend>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 2">rclcpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rclpy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 2">rclcpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">rclpy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 2">rclcpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rclpy</exec_depend>
+
+
+  <export>
+  </export>
+</package>
diff --git a/ros_web_api_bellande_adaptive_continuious_controller/CMakeLists.txt b/ros_web_api_bellande_adaptive_continuious_controller/CMakeLists.txt
new file mode 100644
index 0000000..131bb95
--- /dev/null
+++ b/ros_web_api_bellande_adaptive_continuious_controller/CMakeLists.txt
@@ -0,0 +1,51 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+#
+# This program is free software: you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation, either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with this program.  If not, see <https://www.gnu.org/licenses/>.
+
+cmake_minimum_required(VERSION 3.8)
+project(ros_web_api_bellande_adaptive_continuious_controller)
+
+# Find ROS
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED COMPONENTS
+    roscpp
+    rospy
+  )
+else()
+  find_package(ament_cmake REQUIRED COMPONENTS
+    rclcpp
+    rclpy
+  )
+endif()
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    INCLUDE_DIRS
+    LIBRARIES ${PROJECT_NAME}
+    CATKIN_DEPENDS
+    roscpp
+    rospy
+  )
+endif()
+
+# Install Python scripts, configuration files, and launch files
+if($ENV{ROS_VERSION} EQUAL "1")
+    install(PROGRAMS src/bellande_adaptive_continuious_controller_api_2d.py DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
+    install(DIRECTORY config/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config)
+    install(DIRECTORY launch/ DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch)
+elseif($ENV{ROS_VERSION} EQUAL "2")
+    install(PROGRAMS src/bellande_adaptive_continuious_controller_api_2d.py DESTINATION lib/${PROJECT_NAME})
+    install(DIRECTORY config/ DESTINATION share/${PROJECT_NAME}/config)
+    install(DIRECTORY launch/ DESTINATION share/${PROJECT_NAME}/launch)
+endif()
diff --git a/ros_web_api_bellande_adaptive_continuious_controller/README.md b/ros_web_api_bellande_adaptive_continuious_controller/README.md
new file mode 100644
index 0000000..b78d1e8
--- /dev/null
+++ b/ros_web_api_bellande_adaptive_continuious_controller/README.md
@@ -0,0 +1,3 @@
+# Bellande Search Path Web ROS/ROS2 API Intergration
+
+[Bellande Search Path](https://github.com/RonaldsonBellande/bellande_robots_step)
diff --git a/ros_web_api_bellande_adaptive_continuious_controller/package.xml b/ros_web_api_bellande_adaptive_continuious_controller/package.xml
new file mode 100644
index 0000000..4963104
--- /dev/null
+++ b/ros_web_api_bellande_adaptive_continuious_controller/package.xml
@@ -0,0 +1,54 @@
+<!--
+Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+This program is free software: you can redistribute it and/or modify
+it under the terms of the GNU General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program.  If not, see <https://www.gnu.org/licenses/>.
+-->
+
+<?xml version="1.0"?>
+<package format="3">
+  <name>ros_web_api_bellande_search_path</name>
+  <version>0.0.1</version>
+  <description>Bellande ROS/ROS2 package with a JSON config file for making HTTP requests</description>
+  <author email="ronaldsonbellande@gmail.com">Ronaldson Bellande</author>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+  <license>Apache License 2.0</license>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">rospy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">rospy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">rospy</exec_depend>
+
+
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 2">rclcpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rclpy</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 2">rclcpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">rclpy</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 2">rclcpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rclpy</exec_depend>
+
+
+  <export>
+  </export>
+</package>
diff --git a/scripts/.gitignore b/scripts/.gitignore
new file mode 100644
index 0000000..8054fff
--- /dev/null
+++ b/scripts/.gitignore
@@ -0,0 +1,3 @@
+push.sh
+fix_errors.sh
+repository_recal.sh