diff --git a/.github/workflows/cmake.yml b/.github/workflows/cmake.yml
index 9bf6f0a..97f7fe7 100644
--- a/.github/workflows/cmake.yml
+++ b/.github/workflows/cmake.yml
@@ -2,76 +2,36 @@ name: CMake
 
 on:
   push:
-    branches: [ master ]
+    branches: [ noetic ]
   pull_request:
-    branches: [ master ]
+    branches: [ noetic ]
 
 env:
+  # Customize the CMake build type here (Release, Debug, RelWithDebInfo, etc.)
   BUILD_TYPE: Release
 
 jobs:
   build:
+    # The CMake configure and build commands are platform agnostic and should work equally well on Windows or Mac.
+    # You can convert this to a matrix build if you need cross-platform coverage.
+    # See: https://docs.github.com/en/free-pro-team@latest/actions/learn-github-actions/managing-complex-workflows#using-a-build-matrix
     runs-on: ubuntu-latest
+
     steps:
     - uses: actions/checkout@v3
 
-    - name: Configure CMake 1
-      run: cmake -E make_directory ${{runner.workspace}}/op3_ball_detector/build
-      
-    - name: Configure CMake 2
-      run: cmake -E make_directory ${{runner.workspace}}/op3_bringup/build
-      
-    - name: Configure CMake 2
-      run: cmake -E make_directory ${{runner.workspace}}/op3_demo/build
-      
-    - name: Configure CMake 4
-      run: cmake -E make_directory ${{runner.workspace}}/op3_read_write_demo/build    
-    
-    - name: Configure CMake 5
-      run: cmake -E make_directory ${{runner.workspace}}/robotis_op3_demo/build 
-      
-          
-          
-    - name: Install dependencies
-      shell: bash
-      run: sudo apt-get update ; sudo apt-get install <system_requirements.txt ; sudo apt-get install <ros_requirements.txt ;
-        python3 -m pip install -r requirements.txt
-            
-            
+    - name: Configure CMake
+      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
+      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
+      run: cmake -B ${{github.workspace}}/build -DCMAKE_BUILD_TYPE=${{env.BUILD_TYPE}}
 
-    - name: Build 1
-      run: cmake -E  make_directory --build ${{runner.workspace}}/op3_ball_detector/build --config ${{env.BUILD_TYPE}}
-      
-    - name: Build 2
-      run: cmake -E  make_directory --build ${{runner.workspace}}/op3_bringup/build --config ${{env.BUILD_TYPE}}
+    - name: Build
+      # Build your program with the given configuration
+      run: cmake --build ${{github.workspace}}/build --config ${{env.BUILD_TYPE}}
 
-    - name: Build 3
-      run: cmake -E  make_directory --build ${{runner.workspace}}/op3_demo/build --config ${{env.BUILD_TYPE}}
+    - name: Test
+      working-directory: ${{github.workspace}}/build
+      # Execute tests defined by the CMake configuration.  
+      # See https://cmake.org/cmake/help/latest/manual/ctest.1.html for more detail
+      run: ctest -C ${{env.BUILD_TYPE}}
       
-    - name: Build 4      
-      run: cmake -E  make_directory --build ${{runner.workspace}}/op3_read_write_demo/build --config ${{env.BUILD_TYPE}}
-
-    - name: Build 5      
-      run: cmake -E  make_directory --build ${{runner.workspace}}/robotis_op3_demo/build --config ${{env.BUILD_TYPE}}
- 
- 
- 
-    - name: Test 1
-      working-directory: ${{runner.workspace}}/op3_ball_detector/build
-      run: ctest -C $BUILD_TYPE --output-on-failure
-      
-    - name: Test 2
-      working-directory: ${{runner.workspace}}/op3_bringup/build
-      run: ctest -C $BUILD_TYPE --output-on-failure
-      
-    - name: Test 3
-      working-directory: ${{runner.workspace}}/op3_demo/build
-      run: ctest -C $BUILD_TYPE --output-on-failure
-      
-    - name: Test 4
-      working-directory: ${{runner.workspace}}/op3_read_write_demo/build
-      run: ctest -C $BUILD_TYPE --output-on-failure
-      
-    - name: Test 5
-      working-directory: ${{runner.workspace}}/robotis_op3_demo/build
-      run: ctest -C $BUILD_TYPE --output-on-failure
diff --git a/Dockerfile b/docker/Dockerfile
similarity index 100%
rename from Dockerfile
rename to docker/Dockerfile
diff --git a/gpu.Dockerfile b/docker/gpu.Dockerfile
similarity index 100%
rename from gpu.Dockerfile
rename to docker/gpu.Dockerfile
diff --git a/push.sh b/push.sh
new file mode 100755
index 0000000..3435685
--- /dev/null
+++ b/push.sh
@@ -0,0 +1,4 @@
+#!/bin/bash
+
+# Git push what is already in the repository
+git pull --no-edit; git fetch; git add .; git commit -am "latest pushes"; git push
diff --git a/requirements.txt b/requirements/requirements.txt
similarity index 100%
rename from requirements.txt
rename to requirements/requirements.txt
diff --git a/ros_repository_requirements.txt b/requirements/ros_repository_requirements.txt
similarity index 100%
rename from ros_repository_requirements.txt
rename to requirements/ros_repository_requirements.txt
diff --git a/ros_requirements.txt b/requirements/ros_requirements.txt
similarity index 100%
rename from ros_requirements.txt
rename to requirements/ros_requirements.txt
diff --git a/system_requirements.txt b/requirements/system_requirements.txt
similarity index 100%
rename from system_requirements.txt
rename to requirements/system_requirements.txt