diff --git a/.gitignore b/.gitignore
index 6702710..36a5c0a 100755
--- a/.gitignore
+++ b/.gitignore
@@ -1 +1,11 @@
-/robotis_device/devices/dynamixel/H54-100-B210-R-NR.device
+build
+devel
+bin
+lib
+msg_gen
+srv_gen
+qtcreator-build
+*~
+*.backup
+*.user
+*.autosave
diff --git a/robotis_controller/CHANGELOG.rst b/robotis_controller/CHANGELOG.rst
index c310553..dd4e11c 100755
--- a/robotis_controller/CHANGELOG.rst
+++ b/robotis_controller/CHANGELOG.rst
@@ -1,23 +1,46 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package robotis_controller
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.1.1 (2016-08-18)
------------
-* updated the package information
-
-0.1.0 (2016-08-12)
------------
-* first public release for Kinetic
-* modified the package information for release
-* develop branch -> master branch
-* function name changed : DeviceInit() -> InitDevice()
-* Fixed high CPU consumption due to busy waits
-* add SensorState
- add Singleton template
-* XM-430 / CM-740 device file added.
- Sensor device added.
-* added code to support the gazebo simulator
-* added first bulk read failure protection code
-* renewal
-* Contributors: Alexander Stumpf, Jay Song, Zerom, Pyo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package robotis_controller
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.2.0 (2016-08-31)
+-----------
+* bug fixed (position pid gain & velocity pid gain sync write).
+* added velocity_to_value_ratio to DXL Pro-H series.
+* changed some debug messages.
+* added velocity p/i/d gain and position i/d gain sync_write code.
+* SyncWriteItem bug fixed.
+* add function / modified the code simple (using auto / range based for loop)
+* added XM-430-W210 / XM-430-W350 device file.
+* rename ControlMode(CurrentControl -> TorqueControl)
+* rename (port_to_sync_write_torque\_ -> port_to_sync_write_current\_)
+* rename (present_current\_ -> present_torque\_)
+* modified torque control code
+* fixed typos / changed ROS_INFO -> fprintf (for processing speed)
+* startTimer() : after bulkread txpacket(), need some sleep()
+* changed the order of processing in the Process() function.
+* added missing mutex for gazebo
+* fixed crash when running in gazebo simulation
+* sync write bug fix.
+* added position_p_gain sync write
+* MotionModule/SensorModule member variable access changed (public -> protected).
+* Contributors: Jay Song, Zerom, Pyo, SCH
+
+0.1.1 (2016-08-18)
+-----------
+* updated the package information
+
+0.1.0 (2016-08-12)
+-----------
+* first public release for Kinetic
+* modified the package information for release
+* develop branch -> master branch
+* function name changed : DeviceInit() -> InitDevice()
+* Fixed high CPU consumption due to busy waits
+* add SensorState
+ add Singleton template
+* XM-430 / CM-740 device file added.
+ Sensor device added.
+* added code to support the gazebo simulator
+* added first bulk read failure protection code
+* renewal
+* Contributors: Alexander Stumpf, Jay Song, Zerom, Pyo
diff --git a/robotis_controller/package.xml b/robotis_controller/package.xml
index fd96c43..f1be9e2 100755
--- a/robotis_controller/package.xml
+++ b/robotis_controller/package.xml
@@ -1,28 +1,31 @@
-
-
- robotis_controller
- 0.1.1
-
- The main package that controls THORMANG3.
-
- BSD
- Zerom
- Pyo
- https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues
- https://github.com/ROBOTIS-GIT/ROBOTIS-Framework
- http://wiki.ros.org/robotis_controller
- catkin
- roscpp
- roslib
- std_msgs
- sensor_msgs
- robotis_controller_msgs
- robotis_framework_common
- roscpp
- roslib
- std_msgs
- sensor_msgs
- robotis_controller_msgs
- robotis_framework_common
-
-
+
+
+ robotis_controller
+ 0.2.0
+
+ The main package that controls THORMANG3.
+
+ BSD
+ Zerom
+ Pyo
+ https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues
+ https://github.com/ROBOTIS-GIT/ROBOTIS-Framework
+ http://wiki.ros.org/robotis_controller
+ catkin
+ roscpp
+ roslib
+ std_msgs
+ sensor_msgs
+ dynamixel_sdk
+ robotis_device
+ robotis_controller_msgs
+ robotis_framework_common
+ roscpp
+ roslib
+ std_msgs
+ sensor_msgs
+ dynamixel_sdk
+ robotis_device
+ robotis_controller_msgs
+
+
diff --git a/robotis_device/CHANGELOG.rst b/robotis_device/CHANGELOG.rst
index 91b9800..ac3e9d9 100755
--- a/robotis_device/CHANGELOG.rst
+++ b/robotis_device/CHANGELOG.rst
@@ -1,24 +1,37 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package robotis_device
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.1.1 (2016-08-18)
------------
-* updated the package information
-
-0.1.0 (2016-08-12)
------------
-* first public release for Kinetic
-* modified the package information for release
-* develop branch -> master branch
-* Setting the license to BSD.
-* add SensorState
- add Singleton template
-* XM-430 / CM-740 device file added.
- Sensor device added.
-* modified.
-* variable name changed.
- ConvertRadian2Value / ConvertValue2Radian function bug fixed.
-* added code to support the gazebo simulator
-* renewal
-* Contributors: ROBOTIS, ROBOTIS-zerom, pyo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package robotis_device
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.2.0 (2016-08-31)
+-----------
+* bug fixed (position pid gain & velocity pid gain sync write).
+* added velocity_to_value_ratio to DXL Pro-H series.
+* added velocity p/i/d gain and position i/d gain sync_write code.
+* fixed robotis_device build_depend.
+* added XM-430-W210 / XM-430-W350 device file.
+* rename (present_current\_ -> present_torque\_)
+* modified torque control code
+* added device file for MX-64 / MX-106
+* adjusted position min/max value. (MX-28, XM-430)
+* Contributors: Zerom, Pyo
+
+0.1.1 (2016-08-18)
+-----------
+* updated the package information
+
+0.1.0 (2016-08-12)
+-----------
+* first public release for Kinetic
+* modified the package information for release
+* develop branch -> master branch
+* Setting the license to BSD.
+* add SensorState
+ add Singleton template
+* XM-430 / CM-740 device file added.
+ Sensor device added.
+* modified.
+* variable name changed.
+ ConvertRadian2Value / ConvertValue2Radian function bug fixed.
+* added code to support the gazebo simulator
+* renewal
+* Contributors: ROBOTIS, ROBOTIS-zerom, pyo
diff --git a/robotis_device/package.xml b/robotis_device/package.xml
index 1b0d2f3..f889c3f 100755
--- a/robotis_device/package.xml
+++ b/robotis_device/package.xml
@@ -1,23 +1,23 @@
-
-
- robotis_device
- 0.1.1
-
- The package that manages device information of ROBOTIS robots.
- This package is used when reading device information with the robot information file
- from the robotis_controller package.
-
- BSD
- Zerom
- Pyo
- https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues
- https://github.com/ROBOTIS-GIT/ROBOTIS-Framework
- http://wiki.ros.org/robotis_device
- catkin
- roscpp
- rospy
- dynamixel_sdk
- roscpp
- rospy
- dynamixel_sdk
-
+
+
+ robotis_device
+ 0.2.0
+
+ The package that manages device information of ROBOTIS robots.
+ This package is used when reading device information with the robot information file
+ from the robotis_controller package.
+
+ BSD
+ Zerom
+ Pyo
+ https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues
+ https://github.com/ROBOTIS-GIT/ROBOTIS-Framework
+ http://wiki.ros.org/robotis_device
+ catkin
+ roscpp
+ rospy
+ dynamixel_sdk
+ roscpp
+ rospy
+ dynamixel_sdk
+
diff --git a/robotis_framework/CHANGELOG.rst b/robotis_framework/CHANGELOG.rst
index 2a746ef..513131b 100755
--- a/robotis_framework/CHANGELOG.rst
+++ b/robotis_framework/CHANGELOG.rst
@@ -1,12 +1,15 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package robotis_framework
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.1.1 (2016-08-18)
------------
-* updated the package information
-
-0.1.0 (2016-08-12)
------------
-* make a meta-package
-* Contributors: Zerom, Pyo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package robotis_framework
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.2.0 (2016-08-31)
+-----------
+* updated CHANGLOG.rst for minor release
+
+0.1.1 (2016-08-18)
+-----------
+* updated the package information
+
+0.1.0 (2016-08-12)
+-----------
+* make a meta-package
diff --git a/robotis_framework/package.xml b/robotis_framework/package.xml
index 87628dd..09a449a 100755
--- a/robotis_framework/package.xml
+++ b/robotis_framework/package.xml
@@ -1,17 +1,17 @@
-
-
- robotis_framework
- 0.1.1
- ROS packages for the robotis_framework (meta package)
- BSD
- Zerom
- Pyo
- https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues
- https://github.com/ROBOTIS-GIT/ROBOTIS-Framework
- http://wiki.ros.org/robotis_framework
- catkin
- robotis_framework_common
- robotis_device
- robotis_controller
-
-
+
+
+ robotis_framework
+ 0.2.0
+ ROS packages for the robotis_framework (meta package)
+ BSD
+ Zerom
+ Pyo
+ https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues
+ https://github.com/ROBOTIS-GIT/ROBOTIS-Framework
+ http://wiki.ros.org/robotis_framework
+ catkin
+ robotis_framework_common
+ robotis_device
+ robotis_controller
+
+
diff --git a/robotis_framework_common/CHANGELOG.rst b/robotis_framework_common/CHANGELOG.rst
index 1adc0e1..e5a510b 100755
--- a/robotis_framework_common/CHANGELOG.rst
+++ b/robotis_framework_common/CHANGELOG.rst
@@ -1,15 +1,22 @@
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-Changelog for package robotis_framework_common
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-0.1.1 (2016-08-18)
------------
-* updated the package information
-
-0.1.0 (2016-08-12)
------------
-* modified the package information for release
-* Setting the license to BSD.
-* add SensorState
- add Singleton template
-* Contributors: Jay Song, Zerom, Pyo
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+Changelog for package robotis_framework_common
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+0.2.0 (2016-08-31)
+-----------
+* updated CHANGLOG.rst for minor release
+* rename ControlMode(CurrentControl -> TorqueControl)
+* rename (port_to_sync_write_torque\_ -> port_to_sync_write_current\_)
+* Contributors: Zerom, Pyo
+
+0.1.1 (2016-08-18)
+-----------
+* updated the package information
+
+0.1.0 (2016-08-12)
+-----------
+* modified the package information for release
+* Setting the license to BSD.
+* add SensorState
+ add Singleton template
+* Contributors: Jay Song, Zerom, Pyo
diff --git a/robotis_framework_common/package.xml b/robotis_framework_common/package.xml
index 0957d69..7cce1b6 100755
--- a/robotis_framework_common/package.xml
+++ b/robotis_framework_common/package.xml
@@ -1,19 +1,17 @@
-
-
- robotis_framework_common
- 0.1.1
-
- The package contains commonly used Headers for the ROBOTIS Framework.
-
- BSD
- Zerom
- Pyo
- https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues
- https://github.com/ROBOTIS-GIT/ROBOTIS-Framework
- http://wiki.ros.org/robotis_framework_common
- catkin
- roscpp
- robotis_device
- roscpp
- robotis_device
-
+
+
+ robotis_framework_common
+ 0.2.0
+
+ The package contains commonly used Headers for the ROBOTIS Framework.
+
+ BSD
+ Zerom
+ Pyo
+ https://github.com/ROBOTIS-GIT/ROBOTIS-Framework/issues
+ https://github.com/ROBOTIS-GIT/ROBOTIS-Framework
+ http://wiki.ros.org/robotis_framework_common
+ catkin
+ roscpp
+ roscpp
+