diff --git a/humanoid_robot_ball_detector/CMakeLists.txt b/humanoid_robot_ball_detector/CMakeLists.txt
index c4eb1c1..0a54aa1 100644
--- a/humanoid_robot_ball_detector/CMakeLists.txt
+++ b/humanoid_robot_ball_detector/CMakeLists.txt
@@ -76,8 +76,6 @@ if($ENV{ROS_VERSION} EQUAL 1)
     message_runtime
     DEPENDS Boost OpenCV
   )
-else()
-  ament_package()
 endif()
 
 
diff --git a/humanoid_robot_ball_detector/package.xml b/humanoid_robot_ball_detector/package.xml
index 8f62b4f..19f9714 100644
--- a/humanoid_robot_ball_detector/package.xml
+++ b/humanoid_robot_ball_detector/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_ball_detector</name>
-  <version>0.1.0</version>
+  <version>0.3.2</version>
   <description>
     This package implements a circle-like shape detector of the input image
     It requires and input image and publish, at frame rate, a marked image
@@ -10,116 +10,113 @@
   <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_depend condition="$ROS_VERSION == 1">uvc_camera</build_depend>
+
+  <build_export_depend condition="$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>
+  <build_export_depend condition="$ROS_VERSION == 1">uvc_camera</build_export_depend>
+
+  <exec_depend condition="$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>
+  <exec_depend condition="$ROS_VERSION == 1">uvc_camera</exec_depend>
+
+
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</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="$ROS_VERSION == 2">usb_cam</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">uvc_camera</build_depend>
 
-  <condition if="$ROS_VERSION == 1">
-    <build_depend>roscpp</build_depend>
-    <build_depend>roslib</build_depend>
-    <build_depend>std_msgs</build_depend>
-    <build_depend>sensor_msgs</build_depend>
-    <build_depend>geometry_msgs</build_depend>
-    <build_depend>dynamic_reconfigure</build_depend>
-    <build_depend>cv_bridge</build_depend>
-    <build_depend>image_transport</build_depend>
-    <build_depend>boost</build_depend>
-    <build_depend>opencv3</build_depend>
-    <build_depend>yaml-cpp</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
-    <build_depend>message_runtime</build_depend>
-    <build_depend>usb_cam</build_depend>
-    <build_depend>uvc_camera</build_depend>
+  <build_export_depend condition="$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>
+  <build_export_depend condition="$ROS_VERSION == 2">uvc_camera</build_export_depend>
 
-    <build_export_depend>roscpp</build_export_depend>
-    <build_export_depend>roslib</build_export_depend>
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>sensor_msgs</build_export_depend>
-    <build_export_depend>geometry_msgs</build_export_depend>
-    <build_export_depend>dynamic_reconfigure</build_export_depend>
-    <build_export_depend>cv_bridge</build_export_depend>
-    <build_export_depend>image_transport</build_export_depend>
-    <build_export_depend>boost</build_export_depend>
-    <build_export_depend>opencv3</build_export_depend>
-    <build_export_depend>yaml-cpp</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-    <build_export_depend>usb_cam</build_export_depend>
-    <build_export_depend>uvc_camera</build_export_depend>
-
-    <exec_depend>roscpp</exec_depend>
-    <exec_depend>roslib</exec_depend>
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>sensor_msgs</exec_depend>
-    <exec_depend>geometry_msgs</exec_depend>
-    <exec_depend>dynamic_reconfigure</exec_depend>
-    <exec_depend>cv_bridge</exec_depend>
-    <exec_depend>image_transport</exec_depend>
-    <exec_depend>boost</exec_depend>
-    <exec_depend>opencv3</exec_depend>
-    <exec_depend>yaml-cpp</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-    <exec_depend>usb_cam</exec_depend>
-    <exec_depend>uvc_camera</exec_depend>
-  </condition>
-
-
-  <condition if="$ROS_VERSION == 2">
-    <build_depend>roscpp</build_depend>
-    <build_depend>roslib</build_depend>
-    <build_depend>std_msgs</build_depend>
-    <build_depend>sensor_msgs</build_depend>
-    <build_depend>geometry_msgs</build_depend>
-    <build_depend>dynamic_reconfigure</build_depend>
-    <build_depend>cv_bridge</build_depend>
-    <build_depend>image_transport</build_depend>
-    <build_depend>boost</build_depend>
-    <build_depend>opencv3</build_depend>
-    <build_depend>yaml-cpp</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
-    <build_depend>message_runtime</build_depend>
-    <build_depend>usb_cam</build_depend>
-    <build_depend>uvc_camera</build_depend>
-
-    <build_export_depend>roscpp</build_export_depend>
-    <build_export_depend>roslib</build_export_depend>
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>sensor_msgs</build_export_depend>
-    <build_export_depend>geometry_msgs</build_export_depend>
-    <build_export_depend>dynamic_reconfigure</build_export_depend>
-    <build_export_depend>cv_bridge</build_export_depend>
-    <build_export_depend>image_transport</build_export_depend>
-    <build_export_depend>boost</build_export_depend>
-    <build_export_depend>opencv3</build_export_depend>
-    <build_export_depend>yaml-cpp</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-    <build_export_depend>usb_cam</build_export_depend>
-    <build_export_depend>uvc_camera</build_export_depend>
-
-    <exec_depend>roscpp</exec_depend>
-    <exec_depend>roslib</exec_depend>
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>sensor_msgs</exec_depend>
-    <exec_depend>geometry_msgs</exec_depend>
-    <exec_depend>dynamic_reconfigure</exec_depend>
-    <exec_depend>cv_bridge</exec_depend>
-    <exec_depend>image_transport</exec_depend>
-    <exec_depend>boost</exec_depend>
-    <exec_depend>opencv3</exec_depend>
-    <exec_depend>yaml-cpp</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-    <exec_depend>usb_cam</exec_depend>
-    <exec_depend>uvc_camera</exec_depend>
-  </condition>
+  <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>
+  <exec_depend condition="$ROS_VERSION == 2">uvc_camera</exec_depend>
 
 
 </package>
diff --git a/humanoid_robot_bringup/CMakeLists.txt b/humanoid_robot_bringup/CMakeLists.txt
index b54a85b..da5f24e 100644
--- a/humanoid_robot_bringup/CMakeLists.txt
+++ b/humanoid_robot_bringup/CMakeLists.txt
@@ -11,8 +11,6 @@ endif()
 
 if($ENV{ROS_VERSION} EQUAL 1)
   catkin_package()
-else()
-  ament_package()
 endif()
 
 install(
diff --git a/humanoid_robot_bringup/package.xml b/humanoid_robot_bringup/package.xml
index b11f545..20d2b13 100644
--- a/humanoid_robot_bringup/package.xml
+++ b/humanoid_robot_bringup/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_bringup</name>
-  <version>0.3.0</version>
+  <version>0.3.2</version>
   <description>
     This package is a demo for first time users.
     There is an example in the demo where you can run and visualize the robot.
@@ -9,56 +9,52 @@
   <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">humanoid_robot_manager</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_description</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">usb_cam</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">joint_state_publisher</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">robot_state_publisher</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">rviz</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_description</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">usb_cam</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">joint_state_publisher</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">robot_state_publisher</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">rviz</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_description</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">usb_cam</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">joint_state_publisher</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">robot_state_publisher</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">rviz</exec_depend>
+
+
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_description</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">usb_cam</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">joint_state_publisher</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">robot_state_publisher</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">rviz</build_depend>
 
-  <condition if="$ROS_VERSION == 1">
-    <build_depend>humanoid_robot_manager</build_depend>
-    <build_depend>humanoid_robot_description</build_depend>
-    <build_depend>usb_cam</build_depend>
-    <build_depend>joint_state_publisher</build_depend>
-    <build_depend>robot_state_publisher</build_depend>
-    <build_depend>rviz</build_depend>
-
-    <build_export_depend>humanoid_robot_manager</build_export_depend>
-    <build_export_depend>humanoid_robot_description</build_export_depend>
-    <build_export_depend>usb_cam</build_export_depend>
-    <build_export_depend>joint_state_publisher</build_export_depend>
-    <build_export_depend>robot_state_publisher</build_export_depend>
-    <build_export_depend>rviz</build_export_depend>
-
-    <exec_depend>humanoid_robot_manager</exec_depend>
-    <exec_depend>humanoid_robot_description</exec_depend>
-    <exec_depend>usb_cam</exec_depend>
-    <exec_depend>joint_state_publisher</exec_depend>
-    <exec_depend>robot_state_publisher</exec_depend>
-    <exec_depend>rviz</exec_depend>
-  </condition>
-
-
-  <condition if="$ROS_VERSION == 2">
-    <build_depend>humanoid_robot_manager</build_depend>
-    <build_depend>humanoid_robot_description</build_depend>
-    <build_depend>usb_cam</build_depend>
-    <build_depend>joint_state_publisher</build_depend>
-    <build_depend>robot_state_publisher</build_depend>
-    <build_depend>rviz</build_depend>
-
-    <build_export_depend>humanoid_robot_manager</build_export_depend>
-    <build_export_depend>humanoid_robot_description</build_export_depend>
-    <build_export_depend>usb_cam</build_export_depend>
-    <build_export_depend>joint_state_publisher</build_export_depend>
-    <build_export_depend>robot_state_publisher</build_export_depend>
-    <build_export_depend>rviz</build_export_depend>
-
-    <exec_depend>humanoid_robot_manager</exec_depend>
-    <exec_depend>humanoid_robot_description</exec_depend>
-    <exec_depend>usb_cam</exec_depend>
-    <exec_depend>joint_state_publisher</exec_depend>
-    <exec_depend>robot_state_publisher</exec_depend>
-    <exec_depend>rviz</exec_depend>
-  </condition>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_description</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">usb_cam</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">joint_state_publisher</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">robot_state_publisher</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">rviz</build_export_depend>
 
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_description</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">usb_cam</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">joint_state_publisher</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">robot_state_publisher</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">rviz</exec_depend>
 
 </package>
diff --git a/humanoid_robot_demo/CMakeLists.txt b/humanoid_robot_demo/CMakeLists.txt
index abdb213..049d16a 100644
--- a/humanoid_robot_demo/CMakeLists.txt
+++ b/humanoid_robot_demo/CMakeLists.txt
@@ -17,7 +17,6 @@ if($ENV{ROS_VERSION} EQUAL 1)
     humanoid_robot_math
     humanoid_robot_ball_detector
   )
-
   find_package(Boost REQUIRED COMPONENTS thread)
   find_package(Eigen3 REQUIRED)
 else()
@@ -61,8 +60,6 @@ if($ENV{ROS_VERSION} EQUAL 1)
     humanoid_robot_ball_detector
     DEPENDS Boost EIGEN3
   )
-else()
-  ament_package()
 endif()
 
 
diff --git a/humanoid_robot_demo/package.xml b/humanoid_robot_demo/package.xml
index 24efcd0..1accda9 100644
--- a/humanoid_robot_demo/package.xml
+++ b/humanoid_robot_demo/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_demo</name>
-  <version>0.3.0</version>
+  <version>0.3.2</version>
   <description>
     HUMANOID_ROBOT default demo
     It includes three demontrations(soccer demo, vision demo, action script demo)
@@ -9,133 +9,130 @@
   <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="$ROS_VERSION == 1">humanoid_robot_controller_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_walking_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_action_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">cmake_modules</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_math</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_ball_detector</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">boost</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">eigen</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">yaml-cpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_camera_setting_tool</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_web_setting_tool</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">ros_madplay_player</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">face_detection</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">humanoid_robot_controller_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_walking_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_action_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">cmake_modules</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_math</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_ball_detector</build_export_depend>
+  <build_export_depend condition="$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>
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_camera_setting_tool</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_web_setting_tool</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">ros_madplay_player</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">face_detection</build_export_depend>
+
+  <exec_depend condition="$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="$ROS_VERSION == 1">humanoid_robot_controller_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_walking_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_action_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">cmake_modules</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_math</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_ball_detector</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">boost</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">eigen</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">yaml-cpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_camera_setting_tool</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_web_setting_tool</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">ros_madplay_player</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">face_detection</exec_depend>
+
+
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</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">humanoid_robot_controller_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_walking_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_action_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">cmake_modules</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_math</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_ball_detector</build_depend>
+  <build_depend condition="$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>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_camera_setting_tool</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_web_setting_tool</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">ros_madplay_player</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">face_detection</build_depend>
 
-  <condition if="$ROS_VERSION == 1">
-    <build_depend>roscpp</build_depend>
-    <build_depend>roslib</build_depend>
-    <build_depend>std_msgs</build_depend>
-    <build_depend>sensor_msgs</build_depend>
-    <build_depend>geometry_msgs</build_depend>
-    <build_depend>humanoid_robot_controller_msgs</build_depend>
-    <build_depend>humanoid_robot_walking_module_msgs</build_depend>
-    <build_depend>humanoid_robot_action_module_msgs</build_depend>
-    <build_depend>cmake_modules</build_depend>
-    <build_depend>humanoid_robot_math</build_depend>
-    <build_depend>humanoid_robot_ball_detector</build_depend>
-    <build_depend>boost</build_depend>
-    <build_depend>eigen</build_depend>
-    <build_depend>yaml-cpp</build_depend>
-    <build_depend>humanoid_robot_manager</build_depend>
-    <build_depend>humanoid_robot_camera_setting_tool</build_depend>
-    <build_depend>humanoid_robot_web_setting_tool</build_depend>
-    <build_depend>ros_madplay_player</build_depend>
-    <build_depend>face_detection</build_depend>
+  <build_export_depend condition="$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="$ROS_VERSION == 2">humanoid_robot_controller_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_walking_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_action_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">cmake_modules</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_math</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_ball_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="$ROS_VERSION == 2">yaml-cpp</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_camera_setting_tool</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_web_setting_tool</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">ros_madplay_player</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">face_detection</build_export_depend>
 
-    <build_export_depend>roscpp</build_export_depend>
-    <build_export_depend>roslib</build_export_depend>
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>sensor_msgs</build_export_depend>
-    <build_export_depend>geometry_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_controller_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_walking_module_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_action_module_msgs</build_export_depend>
-    <build_export_depend>cmake_modules</build_export_depend>
-    <build_export_depend>humanoid_robot_math</build_export_depend>
-    <build_export_depend>humanoid_robot_ball_detector</build_export_depend>
-    <build_export_depend>boost</build_export_depend>
-    <build_export_depend>eigen</build_export_depend>
-    <build_export_depend>yaml-cpp</build_export_depend>
-    <build_export_depend>humanoid_robot_manager</build_export_depend>
-    <build_export_depend>humanoid_robot_camera_setting_tool</build_export_depend>
-    <build_export_depend>humanoid_robot_web_setting_tool</build_export_depend>
-    <build_export_depend>ros_madplay_player</build_export_depend>
-    <build_export_depend>face_detection</build_export_depend>
-
-    <exec_depend>roscpp</exec_depend>
-    <exec_depend>roslib</exec_depend>
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>sensor_msgs</exec_depend>
-    <exec_depend>geometry_msgs</exec_depend>
-    <exec_depend>humanoid_robot_controller_msgs</exec_depend>
-    <exec_depend>humanoid_robot_walking_module_msgs</exec_depend>
-    <exec_depend>humanoid_robot_action_module_msgs</exec_depend>
-    <exec_depend>cmake_modules</exec_depend>
-    <exec_depend>humanoid_robot_math</exec_depend>
-    <exec_depend>humanoid_robot_ball_detector</exec_depend>
-    <exec_depend>boost</exec_depend>
-    <exec_depend>eigen</exec_depend>
-    <exec_depend>yaml-cpp</exec_depend>
-    <exec_depend>humanoid_robot_manager</exec_depend>
-    <exec_depend>humanoid_robot_camera_setting_tool</exec_depend>
-    <exec_depend>humanoid_robot_web_setting_tool</exec_depend>
-    <exec_depend>ros_madplay_player</exec_depend>
-    <exec_depend>face_detection</exec_depend>
-  </condition>
-
-
-  <condition if="$ROS_VERSION == 2">
-    <build_depend>roscpp</build_depend>
-    <build_depend>roslib</build_depend>
-    <build_depend>std_msgs</build_depend>
-    <build_depend>sensor_msgs</build_depend>
-    <build_depend>geometry_msgs</build_depend>
-    <build_depend>humanoid_robot_controller_msgs</build_depend>
-    <build_depend>humanoid_robot_walking_module_msgs</build_depend>
-    <build_depend>humanoid_robot_action_module_msgs</build_depend>
-    <build_depend>cmake_modules</build_depend>
-    <build_depend>humanoid_robot_math</build_depend>
-    <build_depend>humanoid_robot_ball_detector</build_depend>
-    <build_depend>boost</build_depend>
-    <build_depend>eigen</build_depend>
-    <build_depend>yaml-cpp</build_depend>
-    <build_depend>humanoid_robot_manager</build_depend>
-    <build_depend>humanoid_robot_camera_setting_tool</build_depend>
-    <build_depend>humanoid_robot_web_setting_tool</build_depend>
-    <build_depend>ros_madplay_player</build_depend>
-    <build_depend>face_detection</build_depend>
-
-    <build_export_depend>roscpp</build_export_depend>
-    <build_export_depend>roslib</build_export_depend>
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>sensor_msgs</build_export_depend>
-    <build_export_depend>geometry_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_controller_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_walking_module_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_action_module_msgs</build_export_depend>
-    <build_export_depend>cmake_modules</build_export_depend>
-    <build_export_depend>humanoid_robot_math</build_export_depend>
-    <build_export_depend>humanoid_robot_ball_detector</build_export_depend>
-    <build_export_depend>boost</build_export_depend>
-    <build_export_depend>eigen</build_export_depend>
-    <build_export_depend>yaml-cpp</build_export_depend>
-    <build_export_depend>humanoid_robot_manager</build_export_depend>
-    <build_export_depend>humanoid_robot_camera_setting_tool</build_export_depend>
-    <build_export_depend>humanoid_robot_web_setting_tool</build_export_depend>
-    <build_export_depend>ros_madplay_player</build_export_depend>
-    <build_export_depend>face_detection</build_export_depend>
-
-    <exec_depend>roscpp</exec_depend>
-    <exec_depend>roslib</exec_depend>
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>sensor_msgs</exec_depend>
-    <exec_depend>geometry_msgs</exec_depend>
-    <exec_depend>humanoid_robot_controller_msgs</exec_depend>
-    <exec_depend>humanoid_robot_walking_module_msgs</exec_depend>
-    <exec_depend>humanoid_robot_action_module_msgs</exec_depend>
-    <exec_depend>cmake_modules</exec_depend>
-    <exec_depend>humanoid_robot_math</exec_depend>
-    <exec_depend>humanoid_robot_ball_detector</exec_depend>
-    <exec_depend>boost</exec_depend>
-    <exec_depend>eigen</exec_depend>
-    <exec_depend>yaml-cpp</exec_depend>
-    <exec_depend>humanoid_robot_manager</exec_depend>
-    <exec_depend>humanoid_robot_camera_setting_tool</exec_depend>
-    <exec_depend>humanoid_robot_web_setting_tool</exec_depend>
-    <exec_depend>ros_madplay_player</exec_depend>
-    <exec_depend>face_detection</exec_depend>
-  </condition>
+  <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="$ROS_VERSION == 2">humanoid_robot_controller_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_walking_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_action_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">cmake_modules</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_math</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_ball_detector</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">boost</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">eigen</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">yaml-cpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_camera_setting_tool</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_web_setting_tool</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">ros_madplay_player</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">face_detection</exec_depend>
 
 </package>
diff --git a/humanoid_robot_read_write_demo/CMakeLists.txt b/humanoid_robot_read_write_demo/CMakeLists.txt
index 675b63e..40ef26a 100644
--- a/humanoid_robot_read_write_demo/CMakeLists.txt
+++ b/humanoid_robot_read_write_demo/CMakeLists.txt
@@ -25,8 +25,6 @@ if($ENV{ROS_VERSION} EQUAL 1)
     sensor_msgs
     std_msgs
   )
-else()
-  ament_package()
 endif()
 
 
diff --git a/humanoid_robot_read_write_demo/package.xml b/humanoid_robot_read_write_demo/package.xml
index 41fd836..d2f8af4 100644
--- a/humanoid_robot_read_write_demo/package.xml
+++ b/humanoid_robot_read_write_demo/package.xml
@@ -1,57 +1,53 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_read_write_demo</name>
-  <version>0.3.0</version>
+  <version>0.3.2</version>
   <description>
     The humanoid_robot_read_write_demo package
   </description>
   <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="$ROS_VERSION == 1">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">sensor_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_controller_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">roscpp</build_export_depend>
+  <build_export_depend condition="$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">humanoid_robot_controller_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">roscpp</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="$ROS_VERSION == 1">humanoid_robot_controller_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_manager</exec_depend>
+
+
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
+  <build_depend condition="$ROS_VERSION == 2">roscpp</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">sensor_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_controller_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</build_depend>
 
-  <condition if="$ROS_VERSION == 1">
-    <build_depend>roscpp</build_depend>
-    <build_depend>std_msgs</build_depend>
-    <build_depend>sensor_msgs</build_depend>
-    <build_depend>humanoid_robot_controller_msgs</build_depend>
-    <build_depend>humanoid_robot_manager</build_depend>
-
-    <build_export_depend>roscpp</build_export_depend>
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>sensor_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_controller_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_manager</build_export_depend>
-
-    <exec_depend>roscpp</exec_depend>
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>sensor_msgs</exec_depend>
-    <exec_depend>humanoid_robot_controller_msgs</exec_depend>
-    <exec_depend>humanoid_robot_manager</exec_depend>
-  </condition>
-
-
-  <condition if="$ROS_VERSION == 2">
-    <build_depend>roscpp</build_depend>
-    <build_depend>std_msgs</build_depend>
-    <build_depend>sensor_msgs</build_depend>
-    <build_depend>humanoid_robot_controller_msgs</build_depend>
-    <build_depend>humanoid_robot_manager</build_depend>
-
-    <build_export_depend>roscpp</build_export_depend>
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>sensor_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_controller_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_manager</build_export_depend>
-
-    <exec_depend>roscpp</exec_depend>
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>sensor_msgs</exec_depend>
-    <exec_depend>humanoid_robot_controller_msgs</exec_depend>
-    <exec_depend>humanoid_robot_manager</exec_depend>
-  </condition>
+  <build_export_depend condition="$ROS_VERSION == 2">roscpp</build_export_depend>
+  <build_export_depend condition="$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">humanoid_robot_controller_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</build_export_depend>
 
+  <exec_depend condition="$ROS_VERSION == 2">roscpp</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">sensor_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_controller_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_manager</exec_depend>
 
 </package>