diff --git a/robotis_controller/CHANGELOG.rst b/robotis_controller/CHANGELOG.rst
index 990b3bc..ec0f902 100755
--- a/robotis_controller/CHANGELOG.rst
+++ b/robotis_controller/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package robotis_controller
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2021-05-03)
+------------------
+* Update package.xml and CMakeList.txt for noetic branch
+* Contributors: Ronaldson Bellande
+
 0.2.9 (2018-03-22)
 ------------------
 * added serivce for setting module
diff --git a/robotis_controller/CMakeLists.txt b/robotis_controller/CMakeLists.txt
index 8e5dd9c..fa09fd4 100755
--- a/robotis_controller/CMakeLists.txt
+++ b/robotis_controller/CMakeLists.txt
@@ -1,7 +1,7 @@
 ################################################################################
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(robotis_controller)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
@@ -60,7 +60,16 @@ endif(NOT ${YAML_CPP_VERSION} VERSION_LESS "0.5")
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES robotis_controller
-  CATKIN_DEPENDS roscpp roslib std_msgs sensor_msgs robotis_controller_msgs dynamixel_sdk robotis_device robotis_framework_common cmake_modules
+  CATKIN_DEPENDS 
+  roscpp 
+  roslib 
+  std_msgs 
+  sensor_msgs 
+  robotis_controller_msgs 
+  dynamixel_sdk 
+  robotis_device 
+  robotis_framework_common 
+  cmake_modules
   DEPENDS Boost
 )
 
diff --git a/robotis_controller/package.xml b/robotis_controller/package.xml
index aeb4e91..3e123fa 100755
--- a/robotis_controller/package.xml
+++ b/robotis_controller/package.xml
@@ -1,28 +1,52 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>robotis_controller</name>
-  <version>0.2.9</version>
-  <description>
-    robotis_controller package for ROBOTIS's platform like Manipulator-H, THORMANG and OP series
-  </description>
+  <version>0.3.0</version>
+  <description>robotis_controller package for ROBOTIS's platform like Manipulator-H, THORMANG and OP series</description>
   <license>Apache 2.0</license>
   <author email="zerom@robotis.com">Zerom</author>
   <author email="kmjung@robotis.com">Kayman</author>
   <author email="sch@robotis.com">SCH</author>
-  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+
   <url type="website">http://wiki.ros.org/robotis_controller</url>
   <url type="emanual">http://emanual.robotis.com/docs/en/software/robotis_framework_packages/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
+
   <buildtool_depend>catkin</buildtool_depend>
-  <depend>roscpp</depend>
-  <depend>roslib</depend>
-  <depend>std_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>robotis_controller_msgs</depend>
-  <depend>dynamixel_sdk</depend>
-  <depend>robotis_device</depend>
-  <depend>robotis_framework_common</depend>
-  <depend>cmake_modules</depend>
-  <depend>yaml-cpp</depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>roslib</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>robotis_controller_msgs</build_depend>
+  <build_depend>dynamixel_sdk</build_depend>
+  <build_depend>robotis_device</build_depend>
+  <build_depend>robotis_framework_common</build_depend>
+  <build_depend>cmake_modules</build_depend>
+  <build_depend>yaml-cpp</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>roslib</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <build_export_depend>sensor_msgs</build_export_depend>
+  <build_export_depend>robotis_controller_msgs</build_export_depend>
+  <build_export_depend>dynamixel_sdk</build_export_depend>
+  <build_export_depend>robotis_device</build_export_depend>
+  <build_export_depend>robotis_framework_common</build_export_depend>
+  <build_export_depend>cmake_modules</build_export_depend>
+  <build_export_depend>yaml-cpp</build_export_depend>
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>roslib</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>robotis_controller_msgs</exec_depend>
+  <exec_depend>dynamixel_sdk</exec_depend>
+  <exec_depend>robotis_device</exec_depend>
+  <exec_depend>robotis_framework_common</exec_depend>
+  <exec_depend>cmake_modules</exec_depend>
+  <exec_depend>yaml-cpp</exec_depend>
+
 </package>
diff --git a/robotis_device/CHANGELOG.rst b/robotis_device/CHANGELOG.rst
index af36406..daa3c1d 100755
--- a/robotis_device/CHANGELOG.rst
+++ b/robotis_device/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package robotis_device
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.3.0 (2021-05-03)
+------------------
+* Update package.xml and CMakeList.txt for noetic branch
+* Contributors: Ronaldson Bellande
+
 0.2.9 (2018-03-22)
 ------------------
 * modified to prevent duplicate indirect address write
diff --git a/robotis_device/CMakeLists.txt b/robotis_device/CMakeLists.txt
index 17bbcf6..0eb6656 100755
--- a/robotis_device/CMakeLists.txt
+++ b/robotis_device/CMakeLists.txt
@@ -1,7 +1,7 @@
 ################################################################################
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(robotis_device)
 
 ################################################################################
@@ -30,7 +30,9 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package(
   INCLUDE_DIRS include
   LIBRARIES robotis_device
-  CATKIN_DEPENDS roscpp dynamixel_sdk
+  CATKIN_DEPENDS 
+  roscpp 
+  dynamixel_sdk
 )
 
 ################################################################################
diff --git a/robotis_device/package.xml b/robotis_device/package.xml
index 09a81af..7100feb 100755
--- a/robotis_device/package.xml
+++ b/robotis_device/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>robotis_device</name>
-  <version>0.2.9</version>
+  <version>0.3.0</version>
   <description>
     The package that manages device information of ROBOTIS robots.
     This package is used when reading device information with the robot information file
@@ -11,12 +11,21 @@
   <author email="zerom@robotis.com">Zerom</author>
   <author email="kmjung@robotis.com">Kayman</author>
   <author email="sch@robotis.com">SCH</author>
-  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+
   <url type="website">http://wiki.ros.org/robotis_device</url>
   <url type="emanual">http://emanual.robotis.com/docs/en/software/robotis_framework_packages/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
+
   <buildtool_depend>catkin</buildtool_depend>
-  <depend>roscpp</depend>
-  <depend>dynamixel_sdk</depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>dynamixel_sdk</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>dynamixel_sdk</build_export_depend>
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>dynamixel_sdk</exec_depend>
 </package>
diff --git a/robotis_framework/CMakeLists.txt b/robotis_framework/CMakeLists.txt
index d336fe9..5777d65 100644
--- a/robotis_framework/CMakeLists.txt
+++ b/robotis_framework/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.0.2)
 project(robotis_framework)
 find_package(catkin REQUIRED)
 catkin_metapackage()
diff --git a/robotis_framework/package.xml b/robotis_framework/package.xml
index 775bdd5..91ab8f5 100755
--- a/robotis_framework/package.xml
+++ b/robotis_framework/package.xml
@@ -1,22 +1,34 @@
 <?xml version="1.0"?>
 <package format="2">
   <name>robotis_framework</name>
-  <version>0.2.9</version>
-  <description>
-    ROS packages for the robotis_framework (meta package)
-  </description>
+  <version>0.3.0</version>
+  <description>ROS packages for the robotis_framework (meta package)</description>
   <license>Apache 2.0</license>
   <author email="zerom@robotis.com">Zerom</author>
   <author email="kmjung@robotis.com">Kayman</author>
   <author email="sch@robotis.com">SCH</author>
-  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+
   <url type="website">http://wiki.ros.org/robotis_framework</url>
   <url type="emanual">http://emanual.robotis.com/docs/en/software/robotis_framework_packages/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
+
   <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>robotis_controller</build_depend>
+  <build_depend>robotis_device</build_depend>
+  <build_depend>robotis_framework_common</build_depend>
+
+  <build_export_depend>robotis_controller</build_export_depend>
+  <build_export_depend>robotis_device</build_export_depend>
+  <build_export_depend>robotis_framework_common</build_export_depend>
+
   <exec_depend>robotis_controller</exec_depend>
   <exec_depend>robotis_device</exec_depend>
   <exec_depend>robotis_framework_common</exec_depend>
-  <export><metapackage/></export>
+
+  <export>
+    <metapackage />
+  </export>
 </package>
diff --git a/robotis_framework_common/package.xml b/robotis_framework_common/package.xml
index 08a423b..e2fefcc 100755
--- a/robotis_framework_common/package.xml
+++ b/robotis_framework_common/package.xml
@@ -2,19 +2,27 @@
 <package format="2">
   <name>robotis_framework_common</name>
   <version>0.2.9</version>
-  <description>
-    The package contains commonly used Headers for the ROBOTIS Framework.
-  </description>
+  <description>The package contains commonly used Headers for the ROBOTIS Framework.</description>
   <license>Apache 2.0</license>
   <author email="zerom@robotis.com">Zerom</author>
   <author email="kmjung@robotis.com">Kayman</author>
   <author email="sch@robotis.com">SCH</author>
-  <maintainer email="pyo@robotis.com">Pyo</maintainer>
+  <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
+
   <url type="website">http://wiki.ros.org/robotis_framework_common</url>
   <url type="emanual">http://emanual.robotis.com/docs/en/software/robotis_framework_packages/</url>
   <url type="repository">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework</url>
   <url type="bugtracker">https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues</url>
+
   <buildtool_depend>catkin</buildtool_depend>
-  <depend>roscpp</depend>
-  <depend>robotis_device</depend>
+
+  <build_depend>roscpp</build_depend>
+  <build_depend>robotis_device</build_depend>
+
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>robotis_device</build_export_depend>
+
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>robotis_device</exec_depend>
+
 </package>