diff --git a/humanoid_robot_intelligence_control_system_bringup/CMakeLists.txt b/humanoid_robot_intelligence_control_system_bringup/CMakeLists.txt
index b0f7a88..3e75bd5 100644
--- a/humanoid_robot_intelligence_control_system_bringup/CMakeLists.txt
+++ b/humanoid_robot_intelligence_control_system_bringup/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+# 
+# Licensed under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License. You may obtain a copy of
+# the License at
+# 
+# http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+
 cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_intelligence_control_system_bringup)
 
diff --git a/humanoid_robot_intelligence_control_system_bringup/package.xml b/humanoid_robot_intelligence_control_system_bringup/package.xml
index 2d44949..a145af4 100644
--- a/humanoid_robot_intelligence_control_system_bringup/package.xml
+++ b/humanoid_robot_intelligence_control_system_bringup/package.xml
@@ -1,3 +1,19 @@
+<!--
+Copyright (C) <year> Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+Licensed under the Apache License, Version 2.0 (the "License"); you may not
+use this file except in compliance with the License. You may obtain a copy of
+the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+License for the specific language governing permissions and limitations under
+the License.
+-->
+
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_intelligence_control_system_bringup</name>
@@ -19,8 +35,10 @@
   <build_depend condition="$ROS_VERSION == 1">robot_state_publisher</build_depend>
   <build_depend condition="$ROS_VERSION == 1">rviz</build_depend>
 
-  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_description</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_manager</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_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="$ROS_VERSION == 1">robot_state_publisher</build_export_depend>
@@ -43,8 +61,10 @@
   <build_depend condition="$ROS_VERSION == 2">robot_state_publisher</build_depend>
   <build_depend condition="$ROS_VERSION == 2">rviz</build_depend>
 
-  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_description</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_manager</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_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>
diff --git a/humanoid_robot_intelligence_control_system_read_write_demo/CMakeLists.txt b/humanoid_robot_intelligence_control_system_read_write_demo/CMakeLists.txt
index da225ca..5daccda 100644
--- a/humanoid_robot_intelligence_control_system_read_write_demo/CMakeLists.txt
+++ b/humanoid_robot_intelligence_control_system_read_write_demo/CMakeLists.txt
@@ -1,3 +1,17 @@
+# Copyright (C) 2024 Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+# 
+# Licensed under the Apache License, Version 2.0 (the "License"); you may not
+# use this file except in compliance with the License. You may obtain a copy of
+# the License at
+# 
+# http://www.apache.org/licenses/LICENSE-2.0
+# 
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+# WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+# License for the specific language governing permissions and limitations under
+# the License.
+
 cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_intelligence_control_system_read_write_demo)
 
diff --git a/humanoid_robot_intelligence_control_system_read_write_demo/package.xml b/humanoid_robot_intelligence_control_system_read_write_demo/package.xml
index 0efd54a..5092833 100644
--- a/humanoid_robot_intelligence_control_system_read_write_demo/package.xml
+++ b/humanoid_robot_intelligence_control_system_read_write_demo/package.xml
@@ -1,3 +1,19 @@
+<!--
+Copyright (C) <year> Bellande Robotics Sensors Research Innovation Center, Ronaldson Bellande
+
+Licensed under the Apache License, Version 2.0 (the "License"); you may not
+use this file except in compliance with the License. You may obtain a copy of
+the License at
+
+http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+License for the specific language governing permissions and limitations under
+the License.
+-->
+
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_intelligence_control_system_read_write_demo</name>
@@ -14,19 +30,23 @@
   <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_intelligence_control_system_controller_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_controller_msgs</build_depend>
   <build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_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_intelligence_control_system_controller_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_controller_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_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_intelligence_control_system_controller_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_controller_msgs</exec_depend>
   <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_manager</exec_depend>
 
 
@@ -35,19 +55,23 @@
   <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_intelligence_control_system_controller_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_controller_msgs</build_depend>
   <build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</build_depend>
 
   <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_intelligence_control_system_controller_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_controller_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_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_intelligence_control_system_controller_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_controller_msgs</exec_depend>
   <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_manager</exec_depend>
 
 </package>