diff --git a/humanoid_robot_intelligence_control_system_action_module_msgs/package.xml b/humanoid_robot_intelligence_control_system_action_module_msgs/package.xml
index e0abcf6..ad4766d 100644
--- a/humanoid_robot_intelligence_control_system_action_module_msgs/package.xml
+++ b/humanoid_robot_intelligence_control_system_action_module_msgs/package.xml
@@ -1,8 +1,25 @@
+<!--
+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_action_module_msgs</name>
   <version>0.3.2</version>
-  <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
+  <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>
 
diff --git a/humanoid_robot_intelligence_control_system_controller_msgs/package.xml b/humanoid_robot_intelligence_control_system_controller_msgs/package.xml
index 29f0765..da51f4c 100644
--- a/humanoid_robot_intelligence_control_system_controller_msgs/package.xml
+++ b/humanoid_robot_intelligence_control_system_controller_msgs/package.xml
@@ -1,8 +1,25 @@
+<!--
+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_controller_msgs</name>
   <version>0.3.2</version>
-  <description>This package includes ROS messages and services for humanoid_robot_intelligence_control_system_framework packages</description>
+  <description>This package includes ROS messages and services for
+    humanoid_robot_intelligence_control_system_framework packages</description>
   <license>Apache 2.0</license>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
 
diff --git a/humanoid_robot_intelligence_control_system_msgs/package.xml b/humanoid_robot_intelligence_control_system_msgs/package.xml
index e371ecc..0cda62c 100644
--- a/humanoid_robot_intelligence_control_system_msgs/package.xml
+++ b/humanoid_robot_intelligence_control_system_msgs/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_msgs</name>
@@ -9,38 +25,62 @@
 
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
 
-  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_action_module_msgs</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_offset_tuner_msgs</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_online_walking_module_msgs</build_depend>
-  <build_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_walking_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_action_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_offset_tuner_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_online_walking_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_walking_module_msgs</build_depend>
 
-  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_action_module_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_offset_tuner_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_online_walking_module_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_walking_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_action_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_offset_tuner_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_online_walking_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_walking_module_msgs</build_export_depend>
 
-  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_action_module_msgs</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_offset_tuner_msgs</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_online_walking_module_msgs</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 1">humanoid_robot_intelligence_control_system_walking_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_action_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_offset_tuner_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_online_walking_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">
+    humanoid_robot_intelligence_control_system_walking_module_msgs</exec_depend>
 
 
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
-  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_action_module_msgs</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_offset_tuner_msgs</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_online_walking_module_msgs</build_depend>
-  <build_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_walking_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_action_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_offset_tuner_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_online_walking_module_msgs</build_depend>
+  <build_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_walking_module_msgs</build_depend>
 
-  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_action_module_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_offset_tuner_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_online_walking_module_msgs</build_export_depend>
-  <build_export_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_walking_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_action_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_offset_tuner_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_online_walking_module_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_walking_module_msgs</build_export_depend>
 
-  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_action_module_msgs</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_offset_tuner_msgs</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_online_walking_module_msgs</exec_depend>
-  <exec_depend condition="$ROS_VERSION == 2">humanoid_robot_intelligence_control_system_walking_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_action_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_offset_tuner_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_online_walking_module_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">
+    humanoid_robot_intelligence_control_system_walking_module_msgs</exec_depend>
 
   <export></export>
 </package>
diff --git a/humanoid_robot_intelligence_control_system_navigation_msgs/package.xml b/humanoid_robot_intelligence_control_system_navigation_msgs/package.xml
index eff204c..5a1a3f1 100644
--- a/humanoid_robot_intelligence_control_system_navigation_msgs/package.xml
+++ b/humanoid_robot_intelligence_control_system_navigation_msgs/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_navigation_msgs</name>
diff --git a/humanoid_robot_intelligence_control_system_offset_tuner_msgs/package.xml b/humanoid_robot_intelligence_control_system_offset_tuner_msgs/package.xml
index c94f803..c040bfd 100644
--- a/humanoid_robot_intelligence_control_system_offset_tuner_msgs/package.xml
+++ b/humanoid_robot_intelligence_control_system_offset_tuner_msgs/package.xml
@@ -1,8 +1,25 @@
+<!--
+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_offset_tuner_msgs</name>
   <version>0.3.2</version>
-  <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
+  <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>
 
diff --git a/humanoid_robot_intelligence_control_system_online_walking_module_msgs/package.xml b/humanoid_robot_intelligence_control_system_online_walking_module_msgs/package.xml
index 4b0d3aa..50a98d2 100644
--- a/humanoid_robot_intelligence_control_system_online_walking_module_msgs/package.xml
+++ b/humanoid_robot_intelligence_control_system_online_walking_module_msgs/package.xml
@@ -1,8 +1,25 @@
+<!--
+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_online_walking_module_msgs</name>
   <version>0.3.2</version>
-  <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
+  <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>
 
diff --git a/humanoid_robot_intelligence_control_system_tuning_module_msgs/package.xml b/humanoid_robot_intelligence_control_system_tuning_module_msgs/package.xml
index 9d62fd1..6811b71 100644
--- a/humanoid_robot_intelligence_control_system_tuning_module_msgs/package.xml
+++ b/humanoid_robot_intelligence_control_system_tuning_module_msgs/package.xml
@@ -1,8 +1,25 @@
+<!--
+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_tuning_module_msgs</name>
   <version>0.3.2</version>
-  <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
+  <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>
 
diff --git a/humanoid_robot_intelligence_control_system_walking_module_msgs/package.xml b/humanoid_robot_intelligence_control_system_walking_module_msgs/package.xml
index ee6139e..ccec093 100644
--- a/humanoid_robot_intelligence_control_system_walking_module_msgs/package.xml
+++ b/humanoid_robot_intelligence_control_system_walking_module_msgs/package.xml
@@ -1,8 +1,25 @@
+<!--
+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_walking_module_msgs</name>
   <version>0.3.2</version>
-  <description>This package includes ROS messages and services for the ROBOTIS HUMANOID_ROBOT packages</description>
+  <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>