diff --git a/LICENSE b/LICENSE
index c0ee812..ffeeac4 100644
--- a/LICENSE
+++ b/LICENSE
@@ -186,7 +186,7 @@
       same "printed page" as the copyright notice for easier
       identification within third-party archives.
 
-   Copyright {yyyy} {name of copyright owner}
+   Copyright 2023 Ronaldson Bellande
 
    Licensed under the Apache License, Version 2.0 (the "License");
    you may not use this file except in compliance with the License.
diff --git a/README.md b/README.md
index 9a9f62a..10023ac 100644
--- a/README.md
+++ b/README.md
@@ -14,6 +14,11 @@ the new commits and codes are under New License
 Latest versions and Maintainer is on organization https://github.com/Robotics-Sensors
 
 
+# USE CASE
+--------------------------------------------------------------------------------------------------------
+* Every repository within our organization is a valuable resource that can be utilized for educational purposes by individuals who actively contribute to the repository or choose to become sponsors of the organization. For those who wish to use our services conversationally, the acquisition of a license and subscription from our company website is mandatory. This ensures that the services are appropriately compensated for their use. Additionally, for the 90% of services designated as private, acquiring a license and subscription can be facilitated through our company website. We encourage interested parties to visit our website to explore and procure the necessary licenses and subscriptions for the diverse range of services and products we offer. Your support and commitment enable us to maintain and enhance the quality of our offerings, contributing to a thriving collaborative environment.
+--------------------------------------------------------------------------------------------------------
+
 ### Maintainer
 * Ronaldson Bellande
 
diff --git a/humanoid_msgs/CMakeLists.txt b/humanoid_msgs/CMakeLists.txt
index 35058c6..3fc5510 100644
--- a/humanoid_msgs/CMakeLists.txt
+++ b/humanoid_msgs/CMakeLists.txt
@@ -1,4 +1,17 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_msgs)
-find_package(catkin REQUIRED)
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED)
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+
+
+if($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 079de01..ec49668 100644
--- a/humanoid_msgs/package.xml
+++ b/humanoid_msgs/package.xml
@@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="3">
   <name>humanoid_msgs</name>
   <version>0.3.0</version>
   <description>
@@ -8,7 +9,10 @@
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
   <license>Apache 2.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
+
   <export>
     <metapackage />
   </export>
diff --git a/humanoid_nav_msgs/CMakeLists.txt b/humanoid_nav_msgs/CMakeLists.txt
index 7ed04cf..efe79e1 100644
--- a/humanoid_nav_msgs/CMakeLists.txt
+++ b/humanoid_nav_msgs/CMakeLists.txt
@@ -1,29 +1,43 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_nav_msgs)
 
 #List to make rest of code more readable
 set(MESSAGE_DEPENDENCIES std_msgs geometry_msgs actionlib_msgs)
 
-#Declare build dependencies
-find_package(
-  catkin REQUIRED
-  COMPONENTS
-  message_generation
-  ${MESSAGE_DEPENDENCIES}
-)
 
-#Add message files
-add_message_files(DIRECTORY msg FILES StepTarget.msg)
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED
+    COMPONENTS
+    message_generation
+    ${MESSAGE_DEPENDENCIES}
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  add_service_files(
+    DIRECTORY srv
+    FILES
+    ClipFootstep.srv
+    PlanFootsteps.srv
+    PlanFootstepsBetweenFeet.srv
+    StepTargetService.srv
+  )
+else()
+  ament_package()
+endif()
+
+
+add_message_files(
+  DIRECTORY 
+  msg 
+  FILES 
+  StepTarget.msg
+  )
 
-#Add service files
-add_service_files(
-  DIRECTORY srv
-  FILES
-  ClipFootstep.srv
-  PlanFootsteps.srv
-  PlanFootstepsBetweenFeet.srv
-  StepTargetService.srv
-)
 
 #Add action files
 add_action_files(
diff --git a/humanoid_nav_msgs/package.xml b/humanoid_nav_msgs/package.xml
index c436ee1..3bd7bb9 100644
--- a/humanoid_nav_msgs/package.xml
+++ b/humanoid_nav_msgs/package.xml
@@ -1,4 +1,5 @@
-<package>
+<?xml version="1.0"?>
+<package format="3">
   <name>humanoid_nav_msgs</name>
   <version>0.3.0</version>
   <description>
@@ -8,15 +9,34 @@
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
   <license>Apache 2.0</license>
 
-  <buildtool_depend>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_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>
 
-  <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>
 </package>
diff --git a/humanoid_robot_action_module_msgs/CMakeLists.txt b/humanoid_robot_action_module_msgs/CMakeLists.txt
index d9b43dd..810120e 100644
--- a/humanoid_robot_action_module_msgs/CMakeLists.txt
+++ b/humanoid_robot_action_module_msgs/CMakeLists.txt
@@ -1,25 +1,18 @@
-################################################################################
-# Set minimum required version of cmake, project name and compile options
-################################################################################
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_action_module_msgs)
 
-################################################################################
-# Find catkin packages and libraries for catkin and system dependencies
-################################################################################
-find_package(
-  catkin REQUIRED COMPONENTS
-  std_msgs
-  message_generation
-)
 
-################################################################################
-# Setup for python modules and scripts
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED COMPONENTS
+    std_msgs
+    message_generation
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+
 
-################################################################################
-# Declare ROS messages, services and actions
-################################################################################
 add_message_files(
   FILES
   StartAction.msg
@@ -35,27 +28,13 @@ generate_messages(
   std_msgs
 )
 
-################################################################################
-# Declare ROS dynamic reconfigure parameters
-################################################################################
 
-################################################################################
-# Declare catkin specific configuration to be passed to dependent projects
-################################################################################
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  message_runtime
-)
-
-################################################################################
-# Build
-################################################################################
-
-################################################################################
-# Install
-################################################################################
-
-################################################################################
-# Test
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS
+    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 eb763ab..5c04209 100644
--- a/humanoid_robot_action_module_msgs/package.xml
+++ b/humanoid_robot_action_module_msgs/package.xml
@@ -1,23 +1,43 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>humanoid_robot_action_module_msgs</name>
   <version>0.3.0</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>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
-  <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>
+  <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>
 
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
 
 </package>
diff --git a/humanoid_robot_controller_msgs/CMakeLists.txt b/humanoid_robot_controller_msgs/CMakeLists.txt
index 2f4cdb1..4c9eda5 100755
--- a/humanoid_robot_controller_msgs/CMakeLists.txt
+++ b/humanoid_robot_controller_msgs/CMakeLists.txt
@@ -1,26 +1,19 @@
-################################################################################
-# Set minimum required version of cmake, project name and compile options
-################################################################################
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_controller_msgs)
 
-################################################################################
-# Find catkin packages and libraries for catkin and system dependencies
-################################################################################
-find_package(
-  catkin REQUIRED COMPONENTS
-  std_msgs
-  sensor_msgs
-  message_generation
-)
 
-################################################################################
-# Setup for python modules and scripts
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED COMPONENTS
+    std_msgs
+    sensor_msgs
+    message_generation
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+
 
-################################################################################
-# Declare ROS messages, services and actions
-################################################################################
 add_message_files(
   FILES
   SyncWriteItem.msg
@@ -43,28 +36,13 @@ generate_messages(
   sensor_msgs
 )
 
-################################################################################
-# Declare ROS dynamic reconfigure parameters
-################################################################################
-
-################################################################################
-# Declare catkin specific configuration to be passed to dependent projects
-################################################################################
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  sensor_msgs
-  message_runtime
-)
-
-################################################################################
-# Build
-################################################################################
-
-################################################################################
-# Install
-################################################################################
-
-################################################################################
-# Test
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS
+    std_msgs
+    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 149eb24..2d04897 100644
--- a/humanoid_robot_controller_msgs/package.xml
+++ b/humanoid_robot_controller_msgs/package.xml
@@ -1,27 +1,49 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>humanoid_robot_controller_msgs</name>
   <version>0.3.0</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>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
-  <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>
+  <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>
 
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
-  <exec_depend>message_runtime</exec_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>
 
 
 </package>
diff --git a/humanoid_robot_msgs/CMakeLists.txt b/humanoid_robot_msgs/CMakeLists.txt
index 5263f49..6d890ec 100644
--- a/humanoid_robot_msgs/CMakeLists.txt
+++ b/humanoid_robot_msgs/CMakeLists.txt
@@ -1,4 +1,17 @@
-cmake_minimum_required(VERSION 0.3.0)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_msgs)
-find_package(catkin REQUIRED)
+
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(catkin REQUIRED)
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+
+
+if($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 21be6a5..4e493f7 100644
--- a/humanoid_robot_msgs/package.xml
+++ b/humanoid_robot_msgs/package.xml
@@ -1,27 +1,50 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>humanoid_robot_msgs</name>
   <version>0.3.0</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>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
-  <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>
+  <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>
 
-  <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>
 
   <export>
     <metapackage />
diff --git a/humanoid_robot_offset_tuner_msgs/CMakeLists.txt b/humanoid_robot_offset_tuner_msgs/CMakeLists.txt
index ae9bf9b..c299c58 100644
--- a/humanoid_robot_offset_tuner_msgs/CMakeLists.txt
+++ b/humanoid_robot_offset_tuner_msgs/CMakeLists.txt
@@ -1,25 +1,18 @@
-################################################################################
-# Set minimum required version of cmake, project name and compile options
-################################################################################
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_offset_tuner_msgs)
 
-################################################################################
-# Find catkin packages and libraries for catkin and system dependencies
-################################################################################
-find_package(
-  catkin REQUIRED COMPONENTS
-  std_msgs
-  message_generation
-)
 
-################################################################################
-# Setup for python modules and scripts
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED COMPONENTS
+    std_msgs
+    message_generation
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+
 
-################################################################################
-# Declare ROS messages, services and actions
-################################################################################
 add_message_files(
   FILES
   JointOffsetData.msg
@@ -38,27 +31,13 @@ generate_messages(
   std_msgs
 )
 
-################################################################################
-# Declare ROS dynamic reconfigure parameters
-################################################################################
 
-################################################################################
-# Declare catkin specific configuration to be passed to dependent projects
-################################################################################
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  message_runtime
-)
-
-################################################################################
-# Build
-################################################################################
-
-################################################################################
-# Install
-################################################################################
-
-################################################################################
-# Test
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS
+    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 2f7a676..92c4e9a 100644
--- a/humanoid_robot_offset_tuner_msgs/package.xml
+++ b/humanoid_robot_offset_tuner_msgs/package.xml
@@ -1,23 +1,43 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>humanoid_robot_offset_tuner_msgs</name>
   <version>0.3.0</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>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
-  <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>
+  <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>
 
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
-  <exec_depend>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 03e7f17..a57c855 100644
--- a/humanoid_robot_online_walking_module_msgs/CMakeLists.txt
+++ b/humanoid_robot_online_walking_module_msgs/CMakeLists.txt
@@ -1,27 +1,20 @@
-################################################################################
-# Set minimum required version of cmake, project name and compile options
-################################################################################
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_online_walking_module_msgs)
 
-################################################################################
-# Find catkin packages and libraries for catkin and system dependencies
-################################################################################
-find_package(
-  catkin REQUIRED COMPONENTS
-  std_msgs
-  sensor_msgs
-  geometry_msgs
-  message_generation
-)
 
-################################################################################
-# Setup for python modules and scripts
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED COMPONENTS
+    std_msgs
+    sensor_msgs
+    geometry_msgs
+    message_generation
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+
 
-################################################################################
-# Declare ROS messages, services and actions
-################################################################################
 add_message_files(
   FILES
   JointPose.msg
@@ -49,29 +42,14 @@ generate_messages(
   geometry_msgs
 )
 
-################################################################################
-# Declare ROS dynamic reconfigure parameters
-################################################################################
-
-################################################################################
-# Declare catkin specific configuration to be passed to dependent projects
-################################################################################
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  sensor_msgs
-  geometry_msgs
-  message_runtime
-)
-
-################################################################################
-# Build
-################################################################################
-
-################################################################################
-# Install
-################################################################################
-
-################################################################################
-# Test
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS
+    std_msgs
+    sensor_msgs
+    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 d5050e9..0c9bfea 100644
--- a/humanoid_robot_online_walking_module_msgs/package.xml
+++ b/humanoid_robot_online_walking_module_msgs/package.xml
@@ -1,29 +1,55 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>humanoid_robot_online_walking_module_msgs</name>
   <version>0.3.0</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>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
-  <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>
+  <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>
 
-  <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>
 
 </package>
diff --git a/humanoid_robot_tuning_module_msgs/CMakeLists.txt b/humanoid_robot_tuning_module_msgs/CMakeLists.txt
index bd8f4bc..bc8c176 100644
--- a/humanoid_robot_tuning_module_msgs/CMakeLists.txt
+++ b/humanoid_robot_tuning_module_msgs/CMakeLists.txt
@@ -1,25 +1,18 @@
-################################################################################
-# Set minimum required version of cmake, project name and compile options
-################################################################################
-cmake_minimum_required(VERSION 0.3.0)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_tuning_module_msgs)
 
-################################################################################
-# Find catkin packages and libraries for catkin and system dependencies
-################################################################################
-find_package(
-  catkin REQUIRED COMPONENTS
-  std_msgs
-  message_generation
-)
 
-################################################################################
-# Setup for python modules and scripts
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED COMPONENTS
+    std_msgs
+    message_generation
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+
 
-################################################################################
-# Declare ROS messages, services and actions
-################################################################################
 add_message_files(
   FILES
   JointOffsetData.msg
@@ -38,27 +31,13 @@ generate_messages(
   std_msgs
 )
 
-################################################################################
-# Declare ROS dynamic reconfigure parameters
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS
+    std_msgs
+    message_runtime
+  )
+else()
+  ament_package()
+endif()
 
-################################################################################
-# Declare catkin specific configuration to be passed to dependent projects
-################################################################################
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  message_runtime
-)
-
-################################################################################
-# Build
-################################################################################
-
-################################################################################
-# Install
-################################################################################
-
-################################################################################
-# Test
-################################################################################
diff --git a/humanoid_robot_tuning_module_msgs/package.xml b/humanoid_robot_tuning_module_msgs/package.xml
index d0e786f..a2b66d6 100644
--- a/humanoid_robot_tuning_module_msgs/package.xml
+++ b/humanoid_robot_tuning_module_msgs/package.xml
@@ -1,23 +1,43 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>humanoid_robot_tuning_module_msgs</name>
   <version>0.3.0</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>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
-  <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>
+  <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>
 
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
 
 </package>
diff --git a/humanoid_robot_walking_module_msgs/CMakeLists.txt b/humanoid_robot_walking_module_msgs/CMakeLists.txt
index 5417431..39260cd 100644
--- a/humanoid_robot_walking_module_msgs/CMakeLists.txt
+++ b/humanoid_robot_walking_module_msgs/CMakeLists.txt
@@ -1,25 +1,18 @@
-################################################################################
-# Set minimum required version of cmake, project name and compile options
-################################################################################
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.8)
 project(humanoid_robot_walking_module_msgs)
 
-################################################################################
-# Find catkin packages and libraries for catkin and system dependencies
-################################################################################
-find_package(
-  catkin REQUIRED COMPONENTS
-  std_msgs
-  message_generation
-)
 
-################################################################################
-# Setup for python modules and scripts
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  find_package(
+    catkin REQUIRED COMPONENTS
+    std_msgs
+    message_generation
+  )
+else()
+  find_package(ament_cmake REQUIRED)
+endif()
+
 
-################################################################################
-# Declare ROS messages, services and actions
-################################################################################
 add_message_files(
   FILES
   WalkingParam.msg
@@ -36,27 +29,13 @@ generate_messages(
   std_msgs
 )
 
-################################################################################
-# Declare ROS dynamic reconfigure parameters
-################################################################################
 
-################################################################################
-# Declare catkin specific configuration to be passed to dependent projects
-################################################################################
-catkin_package(
-  CATKIN_DEPENDS
-  std_msgs
-  message_runtime
-)
-
-################################################################################
-# Build
-################################################################################
-
-################################################################################
-# Install
-################################################################################
-
-################################################################################
-# Test
-################################################################################
+if($ENV{ROS_VERSION} EQUAL 1)
+  catkin_package(
+    CATKIN_DEPENDS
+    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 cdc353f..729f7f4 100644
--- a/humanoid_robot_walking_module_msgs/package.xml
+++ b/humanoid_robot_walking_module_msgs/package.xml
@@ -1,23 +1,43 @@
 <?xml version="1.0"?>
-<package format="2">
+<package format="3">
   <name>humanoid_robot_walking_module_msgs</name>
   <version>0.3.0</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>catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
-  <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>
+  <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>
 
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>message_generation</exec_depend>
-  <exec_depend>message_runtime</exec_depend>
 
 </package>