diff --git a/README.md b/README.md
index a5487a1..c750338 100644
--- a/README.md
+++ b/README.md
@@ -8,29 +8,10 @@
 
 Welcome to the {BR&SRI} Humanoid Robot Intelligence Control System Demos repository! Here, we invite you to delve into the fascinating world of humanoid robotics, showcasing the innovative capabilities of our intelligent control system.
 
-## 🔄 Run and Experiment with the build Bellande's Humanoid Robot
-
-[![Bellande's Humanoid](https://img.shields.io/badge/Bellande's-Humanoid%20Robot%20Package-blue?style=for-the-badge&logo=ros&color=blue)](https://github.com/Robotics-Sensors/bellande_humanoid_robotics_package)
-
-
-## 📢 Work with Bellande Algorithms and Models through Bellande's API!
-
-[![Bellande's Algorithm through Bellande API](https://img.shields.io/badge/Bellande's%20Algorithm%20through%20Bellande's%20API-Bellande%20API-blue?style=for-the-badge&logo=ros&color=blue)](https://github.com/Robotics-Sensors/Web-ROS-API)
-
----
-
-## 🧑‍💼 Work with Bellande Models through Bellande Framework!
-
-[![Bellande's Algorithm through Bellande API](https://img.shields.io/badge/Bellande's%20Models%20through%20Bellande's%20Framework-Bellande%20Framework-blue?style=for-the-badge&logo=ros&color=blue)](https://github.com/Robotics-Sensors/ROS-MODELS)
-
----
-
 ## 💻 Functionality To Switch from ROS to ROS2 Checkout The Below Repository
 
 [![Toggle ROS Versions](https://img.shields.io/badge/Toggle%20ROS%20Versions-Explore%20ROS%20and%20ROS2%20migration-blue?style=for-the-badge&logo=ros&color=blue)](https://github.com/Robotics-Sensors/ros_extension/)
 
----
-
 ### 🚀 Key Repository Stats
 
 - ![GitHub stars](https://img.shields.io/github/stars/Robotics-Sensors/humanoid_robot_intelligence_control_system_demos.svg?style=social) Starred by the community
@@ -75,7 +56,7 @@ The repository has recently undergone significant updates. Older commits and cod
 
 ### 🧑‍💼 Maintainer
 
-Meet our dedicated author & maintainer, **Ronaldson Bellande**.
+Meet our dedicated maintainer, **Ronaldson Bellande**.
 
 ---
 
diff --git a/humanoid_robot_intelligence_control_system_ball_detector/package.xml b/humanoid_robot_intelligence_control_system_ball_detector/package.xml
index 8ac718f..d1d9c2c 100644
--- a/humanoid_robot_intelligence_control_system_ball_detector/package.xml
+++ b/humanoid_robot_intelligence_control_system_ball_detector/package.xml
@@ -44,7 +44,6 @@ the License.
   <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>
@@ -61,7 +60,6 @@ the License.
   <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>
@@ -78,7 +76,6 @@ the License.
   <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="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
@@ -98,7 +95,6 @@ the License.
   <build_depend condition="$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>
 
   <build_export_depend condition="$ROS_VERSION == 2">roscpp</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 2">roslib</build_export_depend>
@@ -115,7 +111,6 @@ the License.
   <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>
 
   <exec_depend condition="$ROS_VERSION == 2">roscpp</exec_depend>
   <exec_depend condition="$ROS_VERSION == 2">roslib</exec_depend>
@@ -132,7 +127,5 @@ the License.
   <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_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup_visualization.launch b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup_visualization.launch
index ce2a352..7c8a537 100644
--- a/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup_visualization.launch
+++ b/humanoid_robot_intelligence_control_system_bringup/launch/humanoid_robot_intelligence_control_system_bringup_visualization.launch
@@ -1,18 +1,22 @@
 <?xml version="1.0"?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find humanoid_robot_intelligence_control_system_description)/urdf/humanoid_robot_intelligence_control_system.urdf.xacro'" />
+  <param name="robot_description"
+    command="$(find xacro)/xacro.py '$(find humanoid_robot_intelligence_control_system_description)/urdf/humanoid_robot_intelligence_control_system.urdf.xacro'" />
 
   <!-- Send fake joint values and monitoring present joint angle -->
   <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher">
     <param name="use_gui" value="TRUE" />
-    <rosparam param="/source_list">[/humanoid_robot_intelligence_control_system/present_joint_states]</rosparam>
+    <rosparam param="/source_list">
+      [/humanoid_robot_intelligence_control_system/present_joint_states]</rosparam>
   </node>
 
   <!-- Combine joint values -->
   <node pkg="robot_state_publisher" type="state_publisher" name="robot_state_publisher">
-    <remap from="/joint_states" to="/humanoid_robot_intelligence_control_system/present_joint_states" />
+    <remap from="/joint_states"
+      to="/humanoid_robot_intelligence_control_system/present_joint_states" />
   </node>
 
   <!-- Show in Rviz   -->
-  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find humanoid_robot_intelligence_control_system_bringup)/rviz/humanoid_robot_intelligence_control_system_bringup.rviz" />
+  <node pkg="rviz" type="rviz" name="rviz"
+    args="-d $(find humanoid_robot_intelligence_control_system_bringup)/rviz/humanoid_robot_intelligence_control_system_bringup.rviz" />
 </launch>
diff --git a/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst b/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst
deleted file mode 100644
index e3fba16..0000000
--- a/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CHANGELOG.rst
+++ /dev/null
@@ -1,29 +0,0 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package humanoid_robot_intelligence_control_system_demo
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-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
-
-0.1.0 (2018-04-19)
-------------------
-* first release for ROS Kinetic
-* added launch files in order to move the camera setting to humanoid_robot_intelligence_control_system_camera_setting package
-* added missing package in find_package()
-* updated CMakeLists.txt and package.xml of humanoid_robot_intelligence_control_system_bringup
-* changed rviz config file
-* refacoring to release
-* split repositoryfrom ROBOTIS-HUMANOID_ROBOT
-* Contributors: Kayman, Zerom, Yoshimaru Tanaka, Pyo
diff --git a/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt b/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt
deleted file mode 100644
index 96c17dd..0000000
--- a/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/CMakeLists.txt
+++ /dev/null
@@ -1,4 +0,0 @@
-cmake_minimum_required(VERSION 3.0.2)
-project(humanoid_robot_intelligence_control_system_demo)
-find_package(catkin REQUIRED)
-catkin_metapackage()
diff --git a/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/package.xml b/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/package.xml
deleted file mode 100644
index 64825a0..0000000
--- a/humanoid_robot_intelligence_control_system_demo/humanoid_robot_humanoid_robot_demo/package.xml
+++ /dev/null
@@ -1,42 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>humanoid_robot_intelligence_control_system_demo</name>
-  <version>0.3.0</version>
-  <description>
-    ROS packages for the humanoid_robot_intelligence_control_system_demo (meta 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="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_ball_detector</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_bringup</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_demo</build_depend>
-
-  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_ball_detector</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_bringup</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_demo</build_export_depend>
-
-  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_ball_detector</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_bringup</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_demo</exec_depend>
-
-
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
-
-  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_ball_detector</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_bringup</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_demo</build_depend>
-
-  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_ball_detector</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_bringup</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_demo</build_export_depend>
-
-  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_ball_detector</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_bringup</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_demo</exec_depend>
-
-
-  <export></export>
-</package>
diff --git a/humanoid_robot_intelligence_control_system_demo/launch/face_detection_humanoid_robot.launch b/humanoid_robot_intelligence_control_system_demo/launch/face_detection.launch
similarity index 75%
rename from humanoid_robot_intelligence_control_system_demo/launch/face_detection_humanoid_robot.launch
rename to humanoid_robot_intelligence_control_system_demo/launch/face_detection.launch
index dd680ac..068d79e 100644
--- a/humanoid_robot_intelligence_control_system_demo/launch/face_detection_humanoid_robot.launch
+++ b/humanoid_robot_intelligence_control_system_demo/launch/face_detection.launch
@@ -3,11 +3,11 @@
   <arg name="face_cascade_name_0"
     default="$(find face_detection)/include/face_detection/HaarCascades/haarcascade_frontalface_alt.xml" />
   <arg name="face_cascade_name_1"
-    default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_alt2.xml" />
+    default="$(find face_detection)/include/face_detection/HaarCascades/haarcascade_frontalface_alt2.xml" />
   <arg name="face_cascade_name_2"
-    default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_alt_tree.xml" />
+    default="$(find face_detection)/include/face_detection/HaarCascades/haarcascade_frontalface_alt_tree.xml" />
   <arg name="face_cascade_name_3"
-    default="$(find face_detection)/include/face_detection//HaarCascades/haarcascade_frontalface_default.xml" />
+    default="$(find face_detection)/include/face_detection/HaarCascades/haarcascade_frontalface_default.xml" />
   <arg name="face_cascade_name_4"
     default="$(find face_detection)/include/face_detection/lbpCascades/lbpcascade_frontalface.xml" />
 
diff --git a/humanoid_robot_intelligence_control_system_demo/package.xml b/humanoid_robot_intelligence_control_system_demo/package.xml
index 7495991..f0d81ce 100644
--- a/humanoid_robot_intelligence_control_system_demo/package.xml
+++ b/humanoid_robot_intelligence_control_system_demo/package.xml
@@ -51,8 +51,6 @@ the License.
     humanoid_robot_intelligence_control_system_camera_setting_tool</build_depend>
   <build_depend condition="$ROS_VERSION == 1">
     humanoid_robot_intelligence_control_system_web_setting_tool</build_depend>
-  <build_depend condition="$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>
@@ -78,8 +76,6 @@ the License.
     humanoid_robot_intelligence_control_system_camera_setting_tool</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 1">
     humanoid_robot_intelligence_control_system_web_setting_tool</build_export_depend>
-  <build_export_depend condition="$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>
@@ -104,8 +100,6 @@ the License.
     humanoid_robot_intelligence_control_system_camera_setting_tool</exec_depend>
   <exec_depend condition="$ROS_VERSION == 1">
     humanoid_robot_intelligence_control_system_web_setting_tool</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">ros_madplay_player</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">face_detection</exec_depend>
 
 
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
@@ -133,8 +127,6 @@ the License.
     humanoid_robot_intelligence_control_system_camera_setting_tool</build_depend>
   <build_depend condition="$ROS_VERSION == 2">
     humanoid_robot_intelligence_control_system_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>
 
   <build_export_depend condition="$ROS_VERSION == 2">roscpp</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 2">roslib</build_export_depend>
@@ -160,8 +152,6 @@ the License.
     humanoid_robot_intelligence_control_system_camera_setting_tool</build_export_depend>
   <build_export_depend condition="$ROS_VERSION == 2">
     humanoid_robot_intelligence_control_system_web_setting_tool</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">ros_madplay_player</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">face_detection</build_export_depend>
 
   <exec_depend condition="$ROS_VERSION == 2">roscpp</exec_depend>
   <exec_depend condition="$ROS_VERSION == 2">roslib</exec_depend>
@@ -186,7 +176,5 @@ the License.
     humanoid_robot_intelligence_control_system_camera_setting_tool</exec_depend>
   <exec_depend condition="$ROS_VERSION == 2">
     humanoid_robot_intelligence_control_system_web_setting_tool</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">ros_madplay_player</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">face_detection</exec_depend>
 
 </package>