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/.gitignore b/.gitignore
index 36a5c0a..a78ffcf 100644
--- a/.gitignore
+++ b/.gitignore
@@ -9,3 +9,13 @@ qtcreator-build
 *.backup
 *.user
 *.autosave
+
+# Scripts
+init_setup.sh
+repository_recal.sh
+push.sh
+publish.sh
+ros_publish.sh
+prerelease_test.sh
+fix_errors.sh
+replace_add_index.sh
diff --git a/README.md b/README.md
index cd34832..20728e6 100644
--- a/README.md
+++ b/README.md
@@ -1,36 +1,20 @@
-# ROBOTIS OP3
-<img src="https://github.com/ROBOTIS-GIT/emanual/blob/master/assets/images/platform/op3/default_op3.jpg" width="40%" />  
+# ROS/ROS2 Humanoid Robot Demos
 
-## ROS Packages for ROBOTIS OP3 Demo
-|Version|Kinetic + Ubuntu Xenial|Melodic + Ubuntu Bionic|
-|:---:|:---:|:---:|
-|[![GitHub version](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-OP3-Demo.svg)](https://badge.fury.io/gh/ROBOTIS-GIT%2FROBOTIS-OP3-Demo)|[![Build Status](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-OP3-Demo.svg?branch=kinetic-devel)](https://travis-ci.org/ROBOTIS-GIT/ROBOTIS-OP3-Demo)|-|
+--------------------------------------------------------------------------------------------------------
+Updated Version [humanoid_robot_module](https://github.com/Robotics-Sensors/humanoid_robot_demos) readme.
 
-## ROBOTIS e-Manual for ROBOTIS OP3
-- [ROBOTIS e-Manual for ROBOTIS OP3](http://emanual.robotis.com/docs/en/platform/op3/introduction/)
+--------------------------------------------------------------------------------------------------------
+## Important
+The repository has diverged, as the old commits and codes are under the previous License and
+the new commits and codes are under New License
 
-## Wiki for robotis_op3_demo Packages
-- http://wiki.ros.org/robotis_op3_demo (metapackage)
-- http://wiki.ros.org/op3_ball_detector
-- http://wiki.ros.org/op3_bringup
-- http://wiki.ros.org/op3_demo
+--------------------------------------------------------------------------------------------------------
+Latest versions and Maintainer is on organization https://github.com/Robotics-Sensors
 
-## Open Source related to ROBOTIS OP3
-- [robotis_op3](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3)
-- [robotis_op3_msgs](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-msgs)
-- [robotis_op3_common](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Common)
-- [robotis_op3_tools](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Tools)
-- [robotis_op3_demo](https://github.com/ROBOTIS-GIT/ROBOTIS-OP3-Demo)
-- [robotis_framework](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework)
-- [robotis_controller_msgs](https://github.com/ROBOTIS-GIT/ROBOTIS-Framework-msgs)
-- [robotis_utility](https://github.com/ROBOTIS-GIT/ROBOTIS-Utility)
-- [robotis_math](https://github.com/ROBOTIS-GIT/ROBOTIS-Math)
-- [dynamixel_sdk](https://github.com/ROBOTIS-GIT/DynamixelSDK)
-- [OpenCR-Hardware](https://github.com/ROBOTIS-GIT/OpenCR-Hardware)
-- [OpenCR](https://github.com/ROBOTIS-GIT/OpenCR)
 
-## Documents and Videos related to ROBOTIS OP3
-- [ROBOTIS e-Manual for ROBOTIS OP3](http://emanual.robotis.com/docs/en/platform/op3/introduction/)
-- [ROBOTIS e-Manual for ROBOTIS THORMANG3](http://emanual.robotis.com/docs/en/platform/thormang3/introduction/)
-- [ROBOTIS e-Manual for ROBOTIS Framework](http://emanual.robotis.com/docs/en/software/robotis_framework_packages/)
-- [ROBOTIS e-Manual for Dynamixel SDK](http://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_sdk/overview/)
+
+### Maintainer
+* Ronaldson Bellande
+
+## License
+This SDK is distributed under the [Apache License, Version 2.0](https://www.apache.org/licenses/LICENSE-2.0), see [LICENSE](https://github.com/Robotics-Sensors/humanoid_robot_demos/blob/main/LICENSE) and [NOTICE](https://github.com/Robotics-Sensors/humanoid_robot_demos/blob/main/LICENSE) for more information.
diff --git a/docker/Dockerfile b/docker/Dockerfile
new file mode 100644
index 0000000..ccda94f
--- /dev/null
+++ b/docker/Dockerfile
@@ -0,0 +1,73 @@
+ARG ROS_ARCHITECTURE_VERSION=latest
+
+FROM ubuntu:20.04 as base_build
+SHELL [ "/bin/bash" , "-c" ]
+
+ENV DEBIAN_FRONTEND noninteractive
+ENV PYTHON_VERSION="3.8"
+
+ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=master
+ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
+
+LABEL maintainer=ronaldsonbellande@gmail.com
+LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
+LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
+
+# Ubuntu setup
+RUN apt-get update -y
+RUN apt-get upgrade -y
+
+# RUN workspace and sourcing
+WORKDIR ./
+COPY requirements.txt .
+COPY system_requirements.txt .
+COPY ros_requirements.txt .
+COPY ros_repository_requirements.txt .
+
+# Install dependencies for system
+RUN apt-get update && apt-get install -y --no-install-recommends <system_requirements.txt \
+  && apt-get upgrade -y \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install python 3.8 and make primary 
+RUN apt-get update && apt-get install -y \
+  python3.8 python3.8-dev python3-pip python3.8-venv \
+  && update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
+
+# Pip install update 
+RUN pip3 install --upgrade pip
+
+# Install python libraries
+RUN pip --no-cache-dir install -r requirements.txt
+
+# Install dependencies for ros system 
+RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
+  && rm -rf /var/lib/apt/lists/*
+
+RUN apt-get update && apt-get -y upgrade \
+  && <ros_repository_requirements.txt 
+
+# Create local catkin workspace
+ENV CATKIN_WS=/root/catkin_ws
+RUN mkdir -p $CATKIN_WS/src
+WORKDIR $CATKIN_WS/src
+
+# Initialize local catkin workspace, install dependencies and build workpsace
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN source ~/.bashrc
+
+RUN cd $CATKIN_WS \
+  && rosdep init \
+  && rosdep update \
+  && rosdep update --rosdistro noetic \
+  && rosdep fix-permissions \
+  && rosdep install -y --from-paths . --ignore-src --rosdistro noetic
+
+# Always source catkin_setup.sh when launching bash 
+RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc
+COPY catkin_setup.sh /usr/local/bin/catkin_setup.sh
+RUN chmod +x /usr/local/bin/catkin_setup.sh
+
+ENTRYPOINT ["/usr/local/bin/catkin_setup.sh"]
+CMD ["bash"]
diff --git a/docker/gpu.Dockerfile b/docker/gpu.Dockerfile
new file mode 100644
index 0000000..df15614
--- /dev/null
+++ b/docker/gpu.Dockerfile
@@ -0,0 +1,90 @@
+ARG ROS_ARCHITECTURE_VERSION=latest
+
+FROM ubuntu:20.04 as base_build
+FROM nvidia/cuda:11.2.1-base-ubuntu20.04
+
+ENV DEBIAN_FRONTEND noninteractive
+ENV PYTHON_VERSION="3.8"
+ENV CUDNN_VERSION=8.1.0.77
+ENV TF_TENSORRT_VERSION=7.2.2
+ENV CUDA=11.2
+ENV LD_LIBRARY_PATH /usr/local/cuda/extras/CUPTI/lib64:$LD_LIBRARY_PATH
+
+ARG ROS_ARCHITECTURE_VERSION_GIT_BRANCH=master
+ARG ROS_ARCHITECTURE_VERSION_GIT_COMMIT=HEAD
+
+LABEL maintainer=ronaldsonbellande@gmail.com
+LABEL ROS_architecture_github_branchtag=${ROS_ARCHITECTURE_VERSION_GIT_BRANCH}
+LABEL ROS_architecture_github_commit=${ROS_ARCHITECTURE_VERSION_GIT_COMMIT}
+
+# Ubuntu setup
+RUN apt-get update -y
+RUN apt-get upgrade -y
+
+# RUN workspace and sourcing
+WORKDIR ./
+COPY requirements.txt .
+COPY system_requirements.txt .
+COPY ros_requirements.txt .
+COPY ros_repository_requirements.txt .
+
+# Install dependencies for system
+RUN apt-get update && apt-get install -y --no-install-recommends <system_requirements.txt \
+  && apt-get upgrade -y \
+  && apt-get clean \
+  && rm -rf /var/lib/apt/lists/*
+
+# Install python 3.8 and make primary 
+RUN apt-get update && apt-get install -y \
+  python3.8 python3.8-dev python3-pip python3.8-venv \
+  && update-alternatives --install /usr/bin/python python /usr/bin/python3.8 1
+
+# Pip install update 
+RUN pip3 install --upgrade pip
+
+# Install python libraries
+RUN pip --no-cache-dir install -r requirements.txt
+
+# Install dependencies for ros system 
+RUN apt-get update && apt-get install -y --no-install-recommends <ros_requirements.txt \
+  && rm -rf /var/lib/apt/lists/*
+
+# Create local catkin workspace
+ENV CATKIN_WS=/root/catkin_ws
+RUN mkdir -p $CATKIN_WS/src
+WORKDIR $CATKIN_WS/src
+
+# Initialize local catkin workspace, install dependencies and build workpsace
+RUN echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
+RUN source ~/.bashrc
+
+RUN cd $CATKIN_WS \
+  && rosdep init \
+  && rosdep update \
+  && rosdep update --rosdistro noetic \
+  && rosdep fix-permissions \
+  && rosdep install -y --from-paths . --ignore-src --rosdistro noetic
+
+# Always source catkin_setup.sh when launching bash 
+RUN echo "source /usr/local/bin/catkin_setup.sh" >> /root/.bashrc
+COPY catkin_setup.sh /usr/local/bin/catkin_setup.sh
+RUN chmod +x /usr/local/bin/catkin_setup.sh
+
+ENTRYPOINT ["/usr/local/bin/catkin_setup.sh"]
+CMD ["bash"]
+
+RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/cuda/repos/ubuntu2004/x86_64/3bf863cc.pub && \
+  apt-get update && apt-get install -y --no-install-recommends \
+  cuda-nvrtc-${CUDA/./-} \
+  libcudnn8=${CUDNN_VERSION}-1+cuda${CUDA} \
+  -r cuda_requirements.txt
+
+# We don't install libnvinfer-dev since we don't need to build against TensorRT
+RUN apt-key adv --fetch-keys https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu2004/x86_64/7fa2af80.pub && \
+  echo "deb https://developer.download.nvidia.com/compute/machine-learning/repos/ubuntu2004/x86_64 /"  > /etc/apt/sources.list.d/tensorRT.list && \
+  apt-get update && \
+  apt-get install -y --no-install-recommends libnvinfer7=${TF_TENSORRT_VERSION}-1+cuda11.0 \
+  libnvinfer-plugin7=${TF_TENSORRT_VERSION}-1+cuda11.0 \
+  && apt-get clean && \
+  rm -rf /var/lib/apt/lists/*;
+
diff --git a/requirements/requirements.txt b/requirements/requirements.txt
new file mode 100644
index 0000000..d08c640
--- /dev/null
+++ b/requirements/requirements.txt
@@ -0,0 +1,39 @@
+# Recomandation for library to install in python
+
+setuptools
+pandas 
+scipy
+sklearn
+future
+grpcio
+h5py
+requests
+opencv-python
+python-math
+random2
+pytest-warnings
+os.path2
+pydicom
+glob2
+pytest-shutil
+DateTime
+zipfile36
+urllib3
+python-time
+trimesh
+librosa
+gym
+matplotlib
+image-slicer
+nvidia-ml-py3
+imgaug
+tqdm
+rosdep
+
+protobuf==3.15.2
+numpy==1.19.2 
+numba==0.55.2
+imageio==2.9.0
+pillow==7.2.0
+tensorflow==2.7.0
+keras==2.7.0
diff --git a/requirements/ros_repository_requirements.txt b/requirements/ros_repository_requirements.txt
new file mode 100644
index 0000000..e3c338f
--- /dev/null
+++ b/requirements/ros_repository_requirements.txt
@@ -0,0 +1,9 @@
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT-msgs
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT-Tools
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Framework-msgs
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Framework
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT-Common
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Utility
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-HUMANOID_ROBOT-Demo
+git clone -b https://github.com/Robotics-Sensors/ROBOTIS-Math
diff --git a/requirements/ros_requirements.txt b/requirements/ros_requirements.txt
new file mode 100644
index 0000000..7b80df2
--- /dev/null
+++ b/requirements/ros_requirements.txt
@@ -0,0 +1,15 @@
+# Recomandation for dependencies for ros system
+
+ros-noetic-desktop-full
+build-essential
+ros-noetic-catkin
+python-rosdep
+python-rosinstall
+python-rosinstall-generator
+python-wstool
+python-catkin-tools
+ros-noetic-pcl-ros
+ros-noetic-flexbe-behavior-engine
+ros-noetic-moveit
+ros-noetic-gazebo-ros-pkgs 
+ros-noetic-gazebo-ros-control
diff --git a/requirements/system_requirements.txt b/requirements/system_requirements.txt
new file mode 100644
index 0000000..46eea93
--- /dev/null
+++ b/requirements/system_requirements.txt
@@ -0,0 +1,29 @@
+# Recomandation for dependencies for linux system
+
+software-properties-common
+python3.8
+neovim
+apt-utils
+automake
+build-essential
+ca-certificates
+pycurl
+git
+python3-pip
+libcurl3-dev
+libfreetype6-dev
+libpng-dev
+libtool
+libzmq3-dev
+mlocate
+openjdk-8-jdk
+openjdk-8-jre-headless
+pkg-config
+python-dev
+software-properties-common
+swig
+unzip
+wget
+zip
+zlib1g-dev
+python3-distutils