diff --git a/humanoid_msgs/CMakeLists.txt b/humanoid_msgs/CMakeLists.txt
index 3fc5510..1117336 100644
--- a/humanoid_msgs/CMakeLists.txt
+++ b/humanoid_msgs/CMakeLists.txt
@@ -10,8 +10,6 @@ endif()
 
 if($ENV{ROS_VERSION} EQUAL 1)
   catkin_package()
-else()
-  ament_package()
 endif()
 
 catkin_metapackage()
diff --git a/humanoid_msgs/package.xml b/humanoid_msgs/package.xml
index ec49668..2618ce5 100644
--- a/humanoid_msgs/package.xml
+++ b/humanoid_msgs/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_msgs</name>
-  <version>0.3.0</version>
+  <version>0.3.2</version>
   <description>
     Messages and services for humanoid robots
   </description>
diff --git a/humanoid_nav_msgs/CMakeLists.txt b/humanoid_nav_msgs/CMakeLists.txt
index efe79e1..ea49fb2 100644
--- a/humanoid_nav_msgs/CMakeLists.txt
+++ b/humanoid_nav_msgs/CMakeLists.txt
@@ -17,18 +17,14 @@ else()
 endif()
 
 
-if($ENV{ROS_VERSION} EQUAL 1)
-  add_service_files(
-    DIRECTORY srv
-    FILES
-    ClipFootstep.srv
-    PlanFootsteps.srv
-    PlanFootstepsBetweenFeet.srv
-    StepTargetService.srv
-  )
-else()
-  ament_package()
-endif()
+add_service_files(
+  DIRECTORY srv
+  FILES
+  ClipFootstep.srv
+  PlanFootsteps.srv
+  PlanFootstepsBetweenFeet.srv
+  StepTargetService.srv
+)
 
 
 add_message_files(
@@ -49,5 +45,11 @@ add_action_files(
 #And now generate the messages
 generate_messages(DEPENDENCIES ${MESSAGE_DEPENDENCIES})
 
-# Generate catkin/pkg-config import information
-catkin_package(CATKIN_DEPENDS message_runtime ${MESSAGE_DEPENDENCIES})
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS 
+    message_runtime 
+    ${MESSAGE_DEPENDENCIES}
+  )
+endif()
diff --git a/humanoid_nav_msgs/package.xml b/humanoid_nav_msgs/package.xml
index 3bd7bb9..e46b76e 100644
--- a/humanoid_nav_msgs/package.xml
+++ b/humanoid_nav_msgs/package.xml
@@ -1,42 +1,37 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_nav_msgs</name>
-  <version>0.3.0</version>
+  <version>0.3.2</version>
   <description>
     Messages and services for humanoid robot navigation
   </description>
-  <author>Armin Hornung</author>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
   <license>Apache 2.0</license>
 
+
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">geometry_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">actionlib_msgs</build_depend>
+
+  <run_depend condition="$ROS_VERSION == 1">message_runtime</run_depend>
+  <run_depend condition="$ROS_VERSION == 1">std_msgs</run_depend>
+  <run_depend condition="$ROS_VERSION == 1">geometry_msgs</run_depend>
+  <run_depend condition="$ROS_VERSION == 1">actionlib_msgs</run_depend>
+
+
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
+  <build_depend condition="$ROS_VERSION == 2">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">geometry_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">actionlib_msgs</build_depend>
 
-  <condition if="$ROS_VERSION == 1">
-    <build_depend>message_generation</build_depend>
-    <build_depend>std_msgs</build_depend>
-    <build_depend>geometry_msgs</build_depend>
-    <build_depend>actionlib_msgs</build_depend>
-
-    <run_depend>message_runtime</run_depend>
-    <run_depend>std_msgs</run_depend>
-    <run_depend>geometry_msgs</run_depend>
-    <run_depend>actionlib_msgs</run_depend>
-  </condition>
-
-
-  <condition if="$ROS_VERSION == 2">
-    <build_depend>message_generation</build_depend>
-    <build_depend>std_msgs</build_depend>
-    <build_depend>geometry_msgs</build_depend>
-    <build_depend>actionlib_msgs</build_depend>
-
-    <run_depend>message_runtime</run_depend>
-    <run_depend>std_msgs</run_depend>
-    <run_depend>geometry_msgs</run_depend>
-    <run_depend>actionlib_msgs</run_depend>
-  </condition>
-
+  <run_depend condition="$ROS_VERSION == 2">message_runtime</run_depend>
+  <run_depend condition="$ROS_VERSION == 2">std_msgs</run_depend>
+  <run_depend condition="$ROS_VERSION == 2">geometry_msgs</run_depend>
+  <run_depend condition="$ROS_VERSION == 2">actionlib_msgs</run_depend>
 
 </package>
diff --git a/humanoid_robot_action_module_msgs/CMakeLists.txt b/humanoid_robot_action_module_msgs/CMakeLists.txt
index 810120e..7977adc 100644
--- a/humanoid_robot_action_module_msgs/CMakeLists.txt
+++ b/humanoid_robot_action_module_msgs/CMakeLists.txt
@@ -35,6 +35,4 @@ if($ENV{ROS_VERSION} EQUAL 1)
     std_msgs
     message_runtime
   )
-else()
-  ament_package()
 endif()
diff --git a/humanoid_robot_action_module_msgs/package.xml b/humanoid_robot_action_module_msgs/package.xml
index 5c04209..a3e994c 100644
--- a/humanoid_robot_action_module_msgs/package.xml
+++ b/humanoid_robot_action_module_msgs/package.xml
@@ -1,43 +1,39 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_action_module_msgs</name>
-  <version>0.3.0</version>
+  <version>0.3.2</version>
   <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
+
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_runtime</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">std_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">message_generation</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">message_runtime</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_generation</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+
+
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
+  <build_depend condition="$ROS_VERSION == 2">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">message_runtime</build_depend>
 
-  <condition if="$ROS_VERSION == 1">
-    <build_depend>std_msgs</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
-
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-  </condition>
-
-
-  <condition if="$ROS_VERSION == 2">
-    <build_depend>std_msgs</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
-
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-  </condition>
+  <build_export_depend condition="$ROS_VERSION == 2">std_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">message_generation</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">message_runtime</build_export_depend>
 
+  <exec_depend condition="$ROS_VERSION == 2">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">message_generation</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">message_runtime</exec_depend>
 
 </package>
diff --git a/humanoid_robot_controller_msgs/CMakeLists.txt b/humanoid_robot_controller_msgs/CMakeLists.txt
index 4c9eda5..e4006ed 100755
--- a/humanoid_robot_controller_msgs/CMakeLists.txt
+++ b/humanoid_robot_controller_msgs/CMakeLists.txt
@@ -43,6 +43,4 @@ if($ENV{ROS_VERSION} EQUAL 1)
     sensor_msgs
     message_runtime
   )
-else()
-  ament_package()
 endif()
diff --git a/humanoid_robot_controller_msgs/package.xml b/humanoid_robot_controller_msgs/package.xml
index 2d04897..fc8f137 100644
--- a/humanoid_robot_controller_msgs/package.xml
+++ b/humanoid_robot_controller_msgs/package.xml
@@ -1,49 +1,45 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_controller_msgs</name>
-  <version>0.3.0</version>
+  <version>0.3.2</version>
   <description>This package includes ROS messages and services for humanoid_robot_framework packages</description>
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
+
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">sensor_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_runtime</build_depend>
+
+  <build_export_depend condition="$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">message_generation</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">message_runtime</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">sensor_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_generation</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+
+
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
+  <build_depend condition="$ROS_VERSION == 2">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">sensor_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">message_runtime</build_depend>
 
-  <condition if="$ROS_VERSION == 1">
-    <build_depend>std_msgs</build_depend>
-    <build_depend>sensor_msgs</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
-
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>sensor_msgs</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>sensor_msgs</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-  </condition>
-
-
-  <condition if="$ROS_VERSION == 2">
-    <build_depend>std_msgs</build_depend>
-    <build_depend>sensor_msgs</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
-
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>sensor_msgs</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>sensor_msgs</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-  </condition>
+  <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="$ROS_VERSION == 2">message_generation</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">message_runtime</build_export_depend>
 
+  <exec_depend condition="$ROS_VERSION == 2">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">sensor_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">message_generation</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">message_runtime</exec_depend>
 
 </package>
diff --git a/humanoid_robot_msgs/CMakeLists.txt b/humanoid_robot_msgs/CMakeLists.txt
index 6d890ec..30c78ee 100644
--- a/humanoid_robot_msgs/CMakeLists.txt
+++ b/humanoid_robot_msgs/CMakeLists.txt
@@ -10,8 +10,6 @@ endif()
 
 if($ENV{ROS_VERSION} EQUAL 1)
   catkin_package()
-else()
-  ament_package()
 endif()
 
 catkin_metapackage()
diff --git a/humanoid_robot_msgs/package.xml b/humanoid_robot_msgs/package.xml
index 4e493f7..bf7199a 100644
--- a/humanoid_robot_msgs/package.xml
+++ b/humanoid_robot_msgs/package.xml
@@ -1,50 +1,46 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_msgs</name>
-  <version>0.3.0</version>
+  <version>0.3.2</version>
   <description>ROS messages packages for the ROBOTIS HUMANOID_ROBOT (meta package)</description>
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
+
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_action_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_offset_tuner_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_online_walking_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_walking_module_msgs</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_action_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_offset_tuner_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_online_walking_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_walking_module_msgs</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_action_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_offset_tuner_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_online_walking_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_walking_module_msgs</exec_depend>
+
+
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_action_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_offset_tuner_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_online_walking_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_walking_module_msgs</build_depend>
 
-  <condition if="$ROS_VERSION == 1">
-    <build_depend>humanoid_robot_action_module_msgs</build_depend>
-    <build_depend>humanoid_robot_offset_tuner_msgs</build_depend>
-    <build_depend>humanoid_robot_online_walking_module_msgs</build_depend>
-    <build_depend>humanoid_robot_walking_module_msgs</build_depend>
-
-    <build_export_depend>humanoid_robot_action_module_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_offset_tuner_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_online_walking_module_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_walking_module_msgs</build_export_depend>
-
-    <exec_depend>humanoid_robot_action_module_msgs</exec_depend>
-    <exec_depend>humanoid_robot_offset_tuner_msgs</exec_depend>
-    <exec_depend>humanoid_robot_online_walking_module_msgs</exec_depend>
-    <exec_depend>humanoid_robot_walking_module_msgs</exec_depend>
-  </condition>
-
-
-  <condition if="$ROS_VERSION == 2">
-    <build_depend>humanoid_robot_action_module_msgs</build_depend>
-    <build_depend>humanoid_robot_offset_tuner_msgs</build_depend>
-    <build_depend>humanoid_robot_online_walking_module_msgs</build_depend>
-    <build_depend>humanoid_robot_walking_module_msgs</build_depend>
-
-    <build_export_depend>humanoid_robot_action_module_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_offset_tuner_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_online_walking_module_msgs</build_export_depend>
-    <build_export_depend>humanoid_robot_walking_module_msgs</build_export_depend>
-
-    <exec_depend>humanoid_robot_action_module_msgs</exec_depend>
-    <exec_depend>humanoid_robot_offset_tuner_msgs</exec_depend>
-    <exec_depend>humanoid_robot_online_walking_module_msgs</exec_depend>
-    <exec_depend>humanoid_robot_walking_module_msgs</exec_depend>
-  </condition>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_action_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_offset_tuner_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_online_walking_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_walking_module_msgs</build_export_depend>
 
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_action_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_offset_tuner_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_online_walking_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_walking_module_msgs</exec_depend>
 
   <export>
     <metapackage />
diff --git a/humanoid_robot_offset_tuner_msgs/CMakeLists.txt b/humanoid_robot_offset_tuner_msgs/CMakeLists.txt
index c299c58..84b3114 100644
--- a/humanoid_robot_offset_tuner_msgs/CMakeLists.txt
+++ b/humanoid_robot_offset_tuner_msgs/CMakeLists.txt
@@ -38,6 +38,4 @@ if($ENV{ROS_VERSION} EQUAL 1)
     std_msgs
     message_runtime
   )
-else()
-  ament_package()
 endif()
diff --git a/humanoid_robot_offset_tuner_msgs/package.xml b/humanoid_robot_offset_tuner_msgs/package.xml
index 92c4e9a..b576217 100644
--- a/humanoid_robot_offset_tuner_msgs/package.xml
+++ b/humanoid_robot_offset_tuner_msgs/package.xml
@@ -1,43 +1,40 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_offset_tuner_msgs</name>
-  <version>0.3.0</version>
+  <version>0.3.2</version>
   <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
+
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_runtime</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">std_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">message_generation</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">message_runtime</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_generation</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+
+
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
+  <build_depend condition="$ROS_VERSION == 2">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">message_runtime</build_depend>
 
-  <condition if="$ROS_VERSION == 1">
-    <build_depend>std_msgs</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">std_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">message_generation</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">message_runtime</build_export_depend>
 
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-  </condition>
-
-
-  <condition if="$ROS_VERSION == 2">
-    <build_depend>std_msgs</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
-
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-  </condition>
+  <exec_depend condition="$ROS_VERSION == 2">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">message_generation</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">message_runtime</exec_depend>
 
 
 </package>
diff --git a/humanoid_robot_online_walking_module_msgs/CMakeLists.txt b/humanoid_robot_online_walking_module_msgs/CMakeLists.txt
index a57c855..7e321b6 100644
--- a/humanoid_robot_online_walking_module_msgs/CMakeLists.txt
+++ b/humanoid_robot_online_walking_module_msgs/CMakeLists.txt
@@ -50,6 +50,4 @@ if($ENV{ROS_VERSION} EQUAL 1)
     geometry_msgs
     message_runtime
   )
-else()
-  ament_package()
 endif()
diff --git a/humanoid_robot_online_walking_module_msgs/package.xml b/humanoid_robot_online_walking_module_msgs/package.xml
index 0c9bfea..0015c26 100644
--- a/humanoid_robot_online_walking_module_msgs/package.xml
+++ b/humanoid_robot_online_walking_module_msgs/package.xml
@@ -1,55 +1,51 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_online_walking_module_msgs</name>
-  <version>0.3.0</version>
+  <version>0.3.2</version>
   <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
+
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">sensor_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">geometry_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_runtime</build_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="$ROS_VERSION == 1">geometry_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">message_generation</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">message_runtime</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">sensor_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">geometry_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_generation</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+
+
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
+  <build_depend condition="$ROS_VERSION == 2">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">sensor_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">geometry_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">message_runtime</build_depend>
 
-  <condition if="$ROS_VERSION == 1">
-    <build_depend>std_msgs</build_depend>
-    <build_depend>sensor_msgs</build_depend>
-    <build_depend>geometry_msgs</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
-
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>sensor_msgs</build_export_depend>
-    <build_export_depend>geometry_msgs</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>sensor_msgs</exec_depend>
-    <exec_depend>geometry_msgs</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-  </condition>
-
-
-  <condition if="$ROS_VERSION == 2">
-    <build_depend>std_msgs</build_depend>
-    <build_depend>sensor_msgs</build_depend>
-    <build_depend>geometry_msgs</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
-
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>sensor_msgs</build_export_depend>
-    <build_export_depend>geometry_msgs</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>sensor_msgs</exec_depend>
-    <exec_depend>geometry_msgs</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-  </condition>
+  <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="$ROS_VERSION == 2">geometry_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">message_generation</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">message_runtime</build_export_depend>
 
+  <exec_depend condition="$ROS_VERSION == 2">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">sensor_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">geometry_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">message_generation</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">message_runtime</exec_depend>
 
 </package>
diff --git a/humanoid_robot_tuning_module_msgs/CMakeLists.txt b/humanoid_robot_tuning_module_msgs/CMakeLists.txt
index bc8c176..0c56fcc 100644
--- a/humanoid_robot_tuning_module_msgs/CMakeLists.txt
+++ b/humanoid_robot_tuning_module_msgs/CMakeLists.txt
@@ -37,7 +37,5 @@ if($ENV{ROS_VERSION} EQUAL 1)
     std_msgs
     message_runtime
   )
-else()
-  ament_package()
 endif()
 
diff --git a/humanoid_robot_tuning_module_msgs/package.xml b/humanoid_robot_tuning_module_msgs/package.xml
index a2b66d6..00b8ccc 100644
--- a/humanoid_robot_tuning_module_msgs/package.xml
+++ b/humanoid_robot_tuning_module_msgs/package.xml
@@ -1,43 +1,39 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_tuning_module_msgs</name>
-  <version>0.3.0</version>
+  <version>0.3.2</version>
   <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
+
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_runtime</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">std_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">message_generation</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">message_runtime</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_generation</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+
+
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
+  <build_depend condition="$ROS_VERSION == 2">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">message_runtime</build_depend>
 
-  <condition if="$ROS_VERSION == 1">
-    <build_depend>std_msgs</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
-
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-  </condition>
-
-
-  <condition if="$ROS_VERSION == 2">
-    <build_depend>std_msgs</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
-
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-  </condition>
+  <build_export_depend condition="$ROS_VERSION == 2">std_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">message_generation</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">message_runtime</build_export_depend>
 
+  <exec_depend condition="$ROS_VERSION == 2">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">message_generation</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">message_runtime</exec_depend>
 
 </package>
diff --git a/humanoid_robot_walking_module_msgs/CMakeLists.txt b/humanoid_robot_walking_module_msgs/CMakeLists.txt
index 39260cd..46277cc 100644
--- a/humanoid_robot_walking_module_msgs/CMakeLists.txt
+++ b/humanoid_robot_walking_module_msgs/CMakeLists.txt
@@ -36,6 +36,4 @@ if($ENV{ROS_VERSION} EQUAL 1)
     std_msgs
     message_runtime
   )
-else()
-  ament_package()
 endif()
diff --git a/humanoid_robot_walking_module_msgs/package.xml b/humanoid_robot_walking_module_msgs/package.xml
index 729f7f4..0b855a2 100644
--- a/humanoid_robot_walking_module_msgs/package.xml
+++ b/humanoid_robot_walking_module_msgs/package.xml
@@ -1,43 +1,39 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>humanoid_robot_walking_module_msgs</name>
-  <version>0.3.0</version>
+  <version>0.3.2</version>
   <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+
+  <build_depend condition="$ROS_VERSION == 1">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">message_runtime</build_depend>
+
+  <build_export_depend condition="$ROS_VERSION == 1">std_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">message_generation</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">message_runtime</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_generation</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+
+
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
+  <build_depend condition="$ROS_VERSION == 2">std_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">message_generation</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">message_runtime</build_depend>
 
-  <condition if="$ROS_VERSION == 1">
-    <build_depend>std_msgs</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">std_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">message_generation</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">message_runtime</build_export_depend>
 
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-  </condition>
-
-
-  <condition if="$ROS_VERSION == 2">
-    <build_depend>std_msgs</build_depend>
-    <build_depend>message_generation</build_depend>
-    <build_depend>message_runtime</build_depend>
-
-    <build_export_depend>std_msgs</build_export_depend>
-    <build_export_depend>message_generation</build_export_depend>
-    <build_export_depend>message_runtime</build_export_depend>
-
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>message_generation</exec_depend>
-    <exec_depend>message_runtime</exec_depend>
-  </condition>
+  <exec_depend condition="$ROS_VERSION == 2">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">message_generation</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">message_runtime</exec_depend>
 
 
 </package>