diff --git a/.robotis_op3_demo.rosinstall b/.robotis_op3_demo.rosinstall
index 146fa30..ab42395 100644
--- a/.robotis_op3_demo.rosinstall
+++ b/.robotis_op3_demo.rosinstall
@@ -1,2 +1,2 @@
-- git: {local-name: robotis_op3_tools, uri: 'https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Tools.git', version: master}
-- git: {local-name: humanoid_navigation, uri: 'https://github.com/ROBOTIS-GIT/humanoid_navigation.git', version: master}
\ No newline at end of file
+- git: {local-name: robotis_op3_tools, uri: 'https://github.com/Robotics-Sensors/ROBOTIS-OP3-Tools.git', version: noetic}
+- git: {local-name: humanoid_navigation, uri: 'https://github.com/Robotics-Sensors/humanoid_navigation.git', version: noetic}
diff --git a/.travis.yml b/.travis.yml
index 1e400fd..edbc427 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -7,7 +7,7 @@ services:
   - docker
 language: generic
 python:
-  - "2.7"
+  - "3.8"
 compiler:
   - gcc
 notifications:
@@ -15,21 +15,16 @@ notifications:
     on_success: change
     on_failure: always
     recipients:
-      - pyo@robotis.com
+      - ronaldsonbellande@gmail.com
 env:
   matrix:
-    - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=xenial
-#   - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=jessie
-#   - ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file   OS_NAME=ubuntu OS_CODE_NAME=xenial $ROSINSTALL_FILENAME=".robotis_op3_demo.rosinstall"
-#   - ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=ubuntu OS_CODE_NAME=bionic
-#   - ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=debian OS_NAME=debian OS_CODE_NAME=stretch
+  - ROS_DISTRO=noetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=file   OS_NAME=ubuntu OS_CODE_NAME=focal $ROSINSTALL_FILENAME=".robotis_op3_demo.rosinstall"
 branches:
   only:
     - master
-    - develop
-    - kinetic-devel
+    - noetic
 install:
   - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
 script:
   - source .ci_config/travis.sh
-  
\ No newline at end of file
+  
diff --git a/op3_ball_detector/launch/ball_detector_from_uvc.launch b/op3_ball_detector/launch/ball_detector_from_uvc.launch
index f0ee90c..4b5ed9a 100644
--- a/op3_ball_detector/launch/ball_detector_from_uvc.launch
+++ b/op3_ball_detector/launch/ball_detector_from_uvc.launch
@@ -1,5 +1,6 @@
 <?xml version="1.0"?>

 <!-- Launches an UVC camera, the ball detector and its visualization  -->

+

 <launch>

   <!-- UVC camera -->

   <node pkg="uvc_camera" type="uvc_camera_node" name="uvc_camera_node" output="screen">

@@ -11,18 +12,20 @@
     <param name="gain" type="int" value="120" />

     <param name="exposure" value="100" />

   </node>

-  <!--    <param name="gain" value="255" />

-    <param name="auto_exposure" type="bool" value="False" />

-    <param name="exposure_absolute" value="1000" />

-    <param name="brightness" value="127" />

-    <param name="auto_white_balance" type="bool" value="False" />

-    <param name="white_balance_temperature" value="2800" /> -->

+

+  <!-- <param name="gain" value="255" /> -->

+  <!-- <param name="auto_exposure" type="bool" value="False" /> -->

+  <!-- <param name="exposure_absolute" value="1000" /> -->

+  <!-- <param name="brightness" value="127" /> -->

+  <!-- <param name="auto_white_balance" type="bool" value="False" /> -->

+  <!-- <param name="white_balance_temperature" value="2800" /> -->

+

 

   <!-- <param name="auto_exposure" type="bool" value="False" /> -->

   <!-- <param name="exposure_absolute" value="1000" /> -->

   <!-- <param name="brightness" value="64" /> -->

   <!-- <param name="auto_white_balance" type="bool" value="False" /> -->

-  <!-- <param name="white_balance_temperature" value="2800" /> -->

+  <!-- <param name="white_balance_temperature" value="2800" />    -->

 

   <!-- ball detector -->

   <include file="$(find op3_ball_detector)/launch/ball_detector.launch" />

diff --git a/op3_ball_detector/package.xml b/op3_ball_detector/package.xml
index 3632328..8713a7a 100644
--- a/op3_ball_detector/package.xml
+++ b/op3_ball_detector/package.xml
@@ -3,7 +3,7 @@
   <name>op3_ball_detector</name>
   <version>0.1.0</version>
   <description>
-    This package implements a circle-like shape detector of the input image.
+    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
     and a stamped array of circle centers and radius.
   </description>
diff --git a/op3_demo/launch/demo.launch b/op3_demo/launch/demo.launch
index dc0b421..9d7c184 100644
--- a/op3_demo/launch/demo.launch
+++ b/op3_demo/launch/demo.launch
@@ -7,7 +7,7 @@
   <include file="$(find op3_ball_detector)/launch/ball_detector_from_usb_cam.launch" />
 
   <!-- face tracking -->
-  <include file="$(find op3_demo)/launch/face_detection_op3.launch" />
+  <!-- <include file="$(find op3_demo)/launch/face_detection_op3.launch" /> -->
 
   <!-- camera setting tool -->
   <include file="$(find op3_camera_setting_tool)/launch/op3_camera_setting_tool.launch" />
@@ -24,4 +24,5 @@
     <param name="p_gain" value="0.45" />
     <param name="d_gain" value="0.045" />
   </node>
+
 </launch>
diff --git a/op3_demo/launch/face_detection_op3.launch b/op3_demo/launch/face_detection_op3.launch
index e1ea7ef..3dc87c8 100644
--- a/op3_demo/launch/face_detection_op3.launch
+++ b/op3_demo/launch/face_detection_op3.launch
@@ -13,6 +13,7 @@
               $(arg face_cascade_name_4)" output="screen">
     <param name="imageInput" type="string" value="/usb_cam_node/image_raw" />
     <param name="displayed_Image" type="int" value="0" />
+
     <!-- <param name="publish" type="int" value="2" /> -->
     <param name="publish" type="int" value="3" />
     <param name="start_condition" type="bool" value="false" />