diff --git a/humanoid_robot_intelligence_control_system_demo/CMakeLists.txt b/humanoid_robot_intelligence_control_system_demo/CMakeLists.txt
index 081329a..1a98f2b 100644
--- a/humanoid_robot_intelligence_control_system_demo/CMakeLists.txt
+++ b/humanoid_robot_intelligence_control_system_demo/CMakeLists.txt
@@ -29,7 +29,7 @@ if($ENV{ROS_VERSION} EQUAL 1)
     humanoid_robot_intelligence_control_system_action_module_msgs
     cmake_modules
     humanoid_robot_intelligence_control_system_math
-    humanoid_robot_intelligence_control_system_ball_detector
+    humanoid_robot_intelligence_control_system_object_detector
   )
   find_package(Boost REQUIRED COMPONENTS thread)
   find_package(Eigen3 REQUIRED)
@@ -71,7 +71,7 @@ if($ENV{ROS_VERSION} EQUAL 1)
     humanoid_robot_intelligence_control_system_action_module_msgs
     cmake_modules
     humanoid_robot_intelligence_control_system_math
-    humanoid_robot_intelligence_control_system_ball_detector
+    humanoid_robot_intelligence_control_system_object_detector
     DEPENDS Boost EIGEN3
   )
 endif()
diff --git a/humanoid_robot_intelligence_control_system_demo/package.xml b/humanoid_robot_intelligence_control_system_demo/package.xml
index f0d81ce..1288222 100644
--- a/humanoid_robot_intelligence_control_system_demo/package.xml
+++ b/humanoid_robot_intelligence_control_system_demo/package.xml
@@ -42,7 +42,7 @@ the License.
   <build_depend condition="$ROS_VERSION == 1">cmake_modules</build_depend>
   <build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_math</build_depend>
   <build_depend condition="$ROS_VERSION == 1">
-    humanoid_robot_intelligence_control_system_ball_detector</build_depend>
+    humanoid_robot_intelligence_control_system_object_detector</build_depend>
   <build_depend condition="$ROS_VERSION == 1">boost</build_depend>
   <build_depend condition="$ROS_VERSION == 1">eigen</build_depend>
   <build_depend condition="$ROS_VERSION == 1">yaml-cpp</build_depend>
@@ -66,7 +66,7 @@ the License.
   <build_export_depend condition="$ROS_VERSION == 1">cmake_modules</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_math</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 1">
-    humanoid_robot_intelligence_control_system_ball_detector</build_export_depend>
+    humanoid_robot_intelligence_control_system_object_detector</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 1">boost</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 1">eigen</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 1">yaml-cpp</build_export_depend>
@@ -91,7 +91,7 @@ the License.
   <exec_depend condition="$ROS_VERSION == 1">cmake_modules</exec_depend>
   <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_math</exec_depend>
   <exec_depend condition="$ROS_VERSION == 1">
-    humanoid_robot_intelligence_control_system_ball_detector</exec_depend>
+    humanoid_robot_intelligence_control_system_object_detector</exec_depend>
   <exec_depend condition="$ROS_VERSION == 1">boost</exec_depend>
   <exec_depend condition="$ROS_VERSION == 1">eigen</exec_depend>
   <exec_depend condition="$ROS_VERSION == 1">yaml-cpp</exec_depend>
@@ -118,7 +118,7 @@ the License.
   <build_depend condition="$ROS_VERSION == 2">cmake_modules</build_depend>
   <build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_math</build_depend>
   <build_depend condition="$ROS_VERSION == 2">
-    humanoid_robot_intelligence_control_system_ball_detector</build_depend>
+    humanoid_robot_intelligence_control_system_object_detector</build_depend>
   <build_depend condition="$ROS_VERSION == 2">boost</build_depend>
   <build_depend condition="$ROS_VERSION == 2">eigen</build_depend>
   <build_depend condition="$ROS_VERSION == 2">yaml-cpp</build_depend>
@@ -142,7 +142,7 @@ the License.
   <build_export_depend condition="$ROS_VERSION == 2">cmake_modules</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_math</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 2">
-    humanoid_robot_intelligence_control_system_ball_detector</build_export_depend>
+    humanoid_robot_intelligence_control_system_object_detector</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 2">boost</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 2">eigen</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 2">yaml-cpp</build_export_depend>
@@ -167,7 +167,7 @@ the License.
   <exec_depend condition="$ROS_VERSION == 2">cmake_modules</exec_depend>
   <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_math</exec_depend>
   <exec_depend condition="$ROS_VERSION == 2">
-    humanoid_robot_intelligence_control_system_ball_detector</exec_depend>
+    humanoid_robot_intelligence_control_system_object_detector</exec_depend>
   <exec_depend condition="$ROS_VERSION == 2">boost</exec_depend>
   <exec_depend condition="$ROS_VERSION == 2">eigen</exec_depend>
   <exec_depend condition="$ROS_VERSION == 2">yaml-cpp</exec_depend>
diff --git a/humanoid_robot_intelligence_control_system_object_detector/CMakeLists.txt b/humanoid_robot_intelligence_control_system_object_detector/CMakeLists.txt
index 7f45c8d..55bba24 100644
--- a/humanoid_robot_intelligence_control_system_object_detector/CMakeLists.txt
+++ b/humanoid_robot_intelligence_control_system_object_detector/CMakeLists.txt
@@ -22,13 +22,6 @@ if($ENV{ROS_VERSION} EQUAL 1)
     sensor_msgs
     geometry_msgs
     cv_bridge
-    message_generation
-  )
-
-  generate_messages(
-    DEPENDENCIES
-    std_msgs
-    geometry_msgs
   )
 
   catkin_package(
@@ -38,7 +31,6 @@ if($ENV{ROS_VERSION} EQUAL 1)
       sensor_msgs
       geometry_msgs
       cv_bridge
-      message_runtime
   )
 
 else()
@@ -55,7 +47,7 @@ if($ENV{ROS_VERSION} EQUAL 1)
   catkin_python_setup()
 
   catkin_install_python(PROGRAMS
-    scripts/object_detection_processor.py
+    src/object_detection_processor.py
     DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
   )
 
@@ -67,7 +59,7 @@ else()
   ament_python_install_package(${PROJECT_NAME})
 
   install(PROGRAMS
-    scripts/object_detection_processor.py
+    src/object_detection_processor.py
     DESTINATION lib/${PROJECT_NAME}
   )
 
diff --git a/humanoid_robot_intelligence_control_system_object_detector/launch/object_detector.launch b/humanoid_robot_intelligence_control_system_object_detector/launch/object_detector.launch
deleted file mode 100644
index 564bebb..0000000
--- a/humanoid_robot_intelligence_control_system_object_detector/launch/object_detector.launch
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="config_path" default="$(find humanoid_robot_intelligence_control_system_ball_detector)/config/ball_detector_params.yaml" />
-
-  <!-- ball detector -->
-  <node pkg="humanoid_robot_intelligence_control_system_ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
-    <rosparam command="load" file="$(arg config_path)" />
-    <param name="yaml_path" type="string" value="$(arg config_path)" />
-    <remap from="/ball_detector_node/image_in" to="/usb_cam_node/image_raw" />
-    <remap from="/ball_detector_node/cameraInfo_in" to="/usb_cam_node/camera_info" />
-  </node>
-</launch>
diff --git a/humanoid_robot_intelligence_control_system_object_detector/package.xml b/humanoid_robot_intelligence_control_system_object_detector/package.xml
index 5f82887..706fe9e 100644
--- a/humanoid_robot_intelligence_control_system_object_detector/package.xml
+++ b/humanoid_robot_intelligence_control_system_object_detector/package.xml
@@ -24,106 +24,38 @@ the License.
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
-
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-
-  <build_depend condition="$ROS_VERSION == 1">roscpp</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">roslib</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">sensor_msgs</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">geometry_msgs</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">dynamic_reconfigure</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">cv_bridge</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">image_transport</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">boost</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">opencv3</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">yaml-cpp</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">message_runtime</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">message_runtime</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">usb_cam</build_depend>
-
-  <build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">roslib</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">std_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">sensor_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">geometry_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">dynamic_reconfigure</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">cv_bridge</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">image_transport</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">boost</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">opencv3</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">yaml-cpp</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">message_generation</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">message_runtime</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">message_runtime</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">usb_cam</build_export_depend>
-
-  <exec_depend condition="$ROS_VERSION == 1">roscpp</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">roslib</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">sensor_msgs</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">geometry_msgs</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">dynamic_reconfigure</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">cv_bridge</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">image_transport</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">boost</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">opencv3</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">yaml-cpp</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">message_generation</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">usb_cam</exec_depend>
-
-
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake_python</buildtool_depend>
 
-  <build_depend condition="$ROS_VERSION == 2">roscpp</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">roslib</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">std_msgs</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">sensor_msgs</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">geometry_msgs</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">dynamic_reconfigure</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">cv_bridge</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">image_transport</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">boost</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">opencv3</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">yaml-cpp</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">message_generation</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">message_runtime</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">message_runtime</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">usb_cam</build_depend>
+  <!-- ROS 1 dependencies -->
+  <depend condition="$ROS_VERSION == 1">rospy</depend>
+  <depend condition="$ROS_VERSION == 1">std_msgs</depend>
+  <depend condition="$ROS_VERSION == 1">sensor_msgs</depend>
+  <depend condition="$ROS_VERSION == 1">geometry_msgs</depend>
+  <depend condition="$ROS_VERSION == 1">cv_bridge</depend>
+  <depend condition="$ROS_VERSION == 1">image_transport</depend>
+  <depend condition="$ROS_VERSION == 1">dynamic_reconfigure</depend>
+  <depend condition="$ROS_VERSION == 1">message_generation</depend>
+  <depend condition="$ROS_VERSION == 1">message_runtime</depend>
 
-  <build_export_depend condition="$ROS_VERSION == 2">roscpp</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">roslib</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">std_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">sensor_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">geometry_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">dynamic_reconfigure</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">cv_bridge</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">image_transport</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">boost</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">opencv3</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">yaml-cpp</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">message_generation</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">message_runtime</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">message_runtime</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">usb_cam</build_export_depend>
+  <!-- ROS 2 dependencies -->
+  <depend condition="$ROS_VERSION == 2">rclpy</depend>
+  <depend condition="$ROS_VERSION == 2">std_msgs</depend>
+  <depend condition="$ROS_VERSION == 2">sensor_msgs</depend>
+  <depend condition="$ROS_VERSION == 2">geometry_msgs</depend>
+  <depend condition="$ROS_VERSION == 2">cv_bridge</depend>
+  <depend condition="$ROS_VERSION == 2">image_transport</depend>
+  <depend condition="$ROS_VERSION == 2">rosidl_default_generators</depend>
+  <depend condition="$ROS_VERSION == 2">rosidl_default_runtime</depend>
 
-  <exec_depend condition="$ROS_VERSION == 2">roscpp</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">roslib</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">std_msgs</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">sensor_msgs</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">geometry_msgs</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">dynamic_reconfigure</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">cv_bridge</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">image_transport</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">boost</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">opencv3</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">yaml-cpp</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">message_generation</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">message_runtime</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">message_runtime</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">usb_cam</exec_depend>
+  <!-- Common dependencies -->
+  <depend>python3-opencv</depend>
+  <depend>python3-yaml</depend>
+  <depend>usb_cam</depend>
 
+  <export>
+    <build_type condition="$ROS_VERSION == 1">catkin</build_type>
+    <build_type condition="$ROS_VERSION == 2">ament_cmake</build_type>
+  </export>
 </package>
diff --git a/humanoid_robot_intelligence_control_system_object_detector/setup.py b/humanoid_robot_intelligence_control_system_object_detector/setup.py
new file mode 100644
index 0000000..a2eac39
--- /dev/null
+++ b/humanoid_robot_intelligence_control_system_object_detector/setup.py
@@ -0,0 +1,26 @@
+# 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/>.
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+# fetch values from package.xml
+setup_args = generate_distutils_setup(
+    scripts=['src/object_detection_processor.py'],
+    packages=['humanoid_robot_intelligence_control_system_object_detector'],
+    package_dir={'': 'src'},
+)
+
+setup(**setup_args)
diff --git a/humanoid_robot_intelligence_control_system_read_write_demo/CHANGELOG.rst b/humanoid_robot_intelligence_control_system_read_write_demo/CHANGELOG.rst
deleted file mode 100644
index db641ea..0000000
--- a/humanoid_robot_intelligence_control_system_read_write_demo/CHANGELOG.rst
+++ /dev/null
@@ -1,26 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package humanoid_robot_intelligence_control_system_read_write_demo
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.3.2 (2023-10-03)
-------------------
-* Make it compatible for ROS1/ROS2
-* Fix bugs
-* Update package.xml and CMakeList.txt for to the latest versions
-* Contributors & Maintainer: Ronaldson Bellande
-
-0.3.1 (2023-09-27)
-------------------
-* Starting from this point it under a new license
-* Fix errors and Issues
-* Rename Repository for a completely different purpose
-* Make it compatible with ROS/ROS2
-* Upgrade version of all builds and make it more compatible
-* Update package.xml and CMakeList.txt for to the latest versions
-* Contributors & Maintainer: Ronaldson Bellande
-
-
-0.3.0 (2021-05-05)
-------------------
-* Update package.xml and CMakeList.txt for noetic branch
-* Contributors: Ronaldson Bellande