diff --git a/auth.conf b/auth.conf
new file mode 100644
index 0000000000000000000000000000000000000000..cc085ac374f991d84e30ad9bf330e5f783ee4b3b
--- /dev/null
+++ b/auth.conf
@@ -0,0 +1,3 @@
+machine https://artifact.tecnalia.com/artifactory/tecnalia-robotics-debian
+login andres.montano@tecnalia.com
+password AKCp8jQcqPn8BQrgnqSShfsqvkS4vMbJL5WNYduVAcxaH7kbpVCyQsLnQgEhr4UeQNZoSgwwk
diff --git a/developer.code-workspace b/developer.code-workspace
index 0f6093494899917eaa77232156b72ea60ac08af2..bcf40612edabfd8e0ba4d259eeed9990f2aaa9e0 100644
--- a/developer.code-workspace
+++ b/developer.code-workspace
@@ -4,7 +4,4 @@
 			"path": "."
 		}
 	],
-	"settings": {
-		"ros.distro": "noetic"
-	}
 }
\ No newline at end of file
diff --git a/dockerfiles/DevenvMelodic.Dockerfile b/dockerfiles/DevenvMelodic.Dockerfile
index 52f3f45401d6c374249ce8d19e367ea98817857f..6772c60c13862cb43d2aad91f5e0d9b78388e886 100644
--- a/dockerfiles/DevenvMelodic.Dockerfile
+++ b/dockerfiles/DevenvMelodic.Dockerfile
@@ -51,6 +51,11 @@ RUN sh -c "echo \
 	'deb https://${USER_API_KEY_ARTIFACTS_TECNALIA}@artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
     >> /etc/apt/sources.list.d/tecnalia.list"
 
+# RUN sh -c "echo \
+# 	'deb https://artifact.tecnalia.com/artifactory/tecnalia-robotics-debian xenial main' \
+#     >> /etc/apt/sources.list.d/tecnalia.list"
+# COPY auth.conf /etc/apt/
+
 # Import the key in order to be able to use the packages from the repository
 RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys 7E72C5B4111A50084C63C9489E7A9B1D990CF897
 
@@ -121,7 +126,12 @@ RUN apt-get install -y \
 
 RUN apt-get install -y \
     ros-melodic-realsense2-camera \
-    ros-melodic-eigen-conversions
+    ros-melodic-eigen-conversions \
+    ros-melodic-abb-driver \
+    libqd-dev \
+    ros-melodic-swri-profiler \
+	ros-melodic-force-torque-sensor-controller \
+	ros-melodic-effort-controllers
 
 RUN apt-get install -y \
     libdouble-conversion-dev
@@ -145,13 +155,17 @@ RUN apt-get install -y \
     python-pip \
     graphviz \
     xdot \
-    ros-melodic-image-view
+    ros-melodic-image-view \
+    libcanberra-gtk-module  \
+    libcanberra-gtk3-module \
+    wget \
+    terminator
 
 # set the zsh theme
-ENV ZSH_THEME agnoster
+#ENV ZSH_THEME agnoster
 
   # run the installation script
-RUN wget https://github.com/robbyrussell/oh-my-zsh/raw/master/tools/install.sh -O - | zsh || true
+#RUN wget https://github.com/robbyrussell/oh-my-zsh/raw/master/tools/install.sh -O - | zsh || true
 
 # Update final image
 RUN apt-get update && apt-get -y upgrade && apt-get -y autoremove
@@ -165,4 +179,4 @@ ENTRYPOINT ["/ros_entrypoint.sh"]
 CMD ["zsh"]
 
 # Switch back to dialog for any ad-hoc use of apt-get
-ENV DEBIAN_FRONTEND=
\ No newline at end of file
+ENV DEBIAN_FRONTEND=
diff --git a/dockerfiles/auth.conf b/dockerfiles/auth.conf
new file mode 100644
index 0000000000000000000000000000000000000000..cc085ac374f991d84e30ad9bf330e5f783ee4b3b
--- /dev/null
+++ b/dockerfiles/auth.conf
@@ -0,0 +1,3 @@
+machine https://artifact.tecnalia.com/artifactory/tecnalia-robotics-debian
+login andres.montano@tecnalia.com
+password AKCp8jQcqPn8BQrgnqSShfsqvkS4vMbJL5WNYduVAcxaH7kbpVCyQsLnQgEhr4UeQNZoSgwwk
diff --git a/dockerfiles/id_rsa_TecnaliaUB20 b/dockerfiles/id_rsa_TecnaliaUB20
new file mode 100644
index 0000000000000000000000000000000000000000..e36fe9166f963b7f59cb85cba504067b64dcd80e
--- /dev/null
+++ b/dockerfiles/id_rsa_TecnaliaUB20
@@ -0,0 +1,27 @@
+-----BEGIN OPENSSH PRIVATE KEY-----
+b3BlbnNzaC1rZXktdjEAAAAABG5vbmUAAAAEbm9uZQAAAAAAAAABAAABFwAAAAdzc2gtcn
+NhAAAAAwEAAQAAAQEAwZWlebIhINUGIgcjBg38QMfjMOue8odSi8t+6Z+K1G2NCVhvboQb
+doEzyywA68CfxbQhLvx+trHMHXBJsfl/q92CtgLrrMqC766cHQtpJtK4jxb4i8mW6T+T7D
+ezqIKyCq5pbEC2q0fE3pYLbKrF4fLi8cB5j2Qcvo9SbAGTjx9zbCNdNhsTxvFMZXzKcZfv
+/qnw0wdYexFwWU4GGqEs3XR9OesZW1jtT8Mydc8j2gJC5UAxr3TlxzbEr1u+3jRqBmodsn
+dqrpnkjTCUEPHPN1qzus1gqxHwBCdrGzEnJe5iOn3MxKRNpYXHDnf5g5TIkftwsYIsqKmL
+JrO4MMcapQAAA8C839mMvN/ZjAAAAAdzc2gtcnNhAAABAQDBlaV5siEg1QYiByMGDfxAx+
+Mw657yh1KLy37pn4rUbY0JWG9uhBt2gTPLLADrwJ/FtCEu/H62scwdcEmx+X+r3YK2Auus
+yoLvrpwdC2km0riPFviLyZbpP5PsN7OogrIKrmlsQLarR8TelgtsqsXh8uLxwHmPZBy+j1
+JsAZOPH3NsI102GxPG8UxlfMpxl+/+qfDTB1h7EXBZTgYaoSzddH056xlbWO1PwzJ1zyPa
+AkLlQDGvdOXHNsSvW77eNGoGah2yd2qumeSNMJQQ8c83WrO6zWCrEfAEJ2sbMScl7mI6fc
+zEpE2lhccOd/mDlMiR+3CxgiyoqYsms7gwxxqlAAAAAwEAAQAAAQEAuoBUyvjdR8dTwEbF
+7Fhe9X5eGEx4dsn+seXcoHFvjBb7MMy9lmi6GKKDZrM/M+IBS7St35ms7pA+yQHcThXEda
+zT+Ey6B1+XZBkCGE1dAeUzn8+OpwYRWShCd+p2MNuxce70bDGwizV6qsM9wHSKbpPVJvm7
+Y3Uc6E4mJx4hrlj+kYZBSA7PwzjjBq1UAVjTJcTnoZkvB/OT2iC6h2Nhi58AZ0WY2G1am5
+PBFl5fQKA5rTPlarCpKllKr+oJ/z+VsRdKZTFwWFG+Cll2lxCro6mLEMWJT1evqkot6tqm
+/D7a3KtDvDKibd1YuI788k9AVFael5hqvIjKHa/H13g/hQAAAIB1Ws5ZjKA4uofcWCZ7X5
+Ppesp58Ie8UqiTGqgJhKqmZbZDswqCNYaak1EAfX6CQDitokqgZoMmH5x/DkEXBA172az8
+OmeqYDcTVdPztaIfKFxwiV+iiMBE3jXjuuk+OtIxxU6YSw7xGyRnv+AHvjAq2+Dttv3NNw
+kNz7cDxVv8HAAAAIEA4txAIsk+RI6+h7GAbG3hlkA787h3w4JcS7rzj0vbjm6WU1vKeS1m
+QdZsqxVnCLKNWTclqGppi714B1JNJarEDnPsXpp7ix9Y2GhvVhQAYzzd3UlrPN2lLD9nHG
+vUSqbIV7kQvKs4A9X1uQEF17Mk4y2JUOhnd3A3rAR8W/lq/rMAAACBANpzM9EyQwVv0OHs
+AYvS9xZmRXx3mOSFawwIckL5UhrpZN0T2Ju+Y+zh16vpXxYT7ZU/GZru2CjbO8ghrN0sms
+jjXxFauwGnvkIrhyguOZoeK8SjW3UnQeVeYfUND51gO7uAKAx/Oy1XgBoYTAaBcQp5DRwG
+sFTbNVjFrPr/1y1HAAAACFVidW50dTIwAQI=
+-----END OPENSSH PRIVATE KEY-----
diff --git a/dotfiles/.zshrc b/dotfiles/.zshrc
index 650698773b85df647ee39ae5d2aadc8500f55d7c..f641f26d7b04d43242b675653175667e22bbe2b5 100644
--- a/dotfiles/.zshrc
+++ b/dotfiles/.zshrc
@@ -107,7 +107,13 @@ setopt no_share_history
 # alias zshconfig="mate ~/.zshrc"
 # alias ohmyzsh="mate ~/.oh-my-zsh"
 
-export ROS_DISTRO="noetic"
+# Create a cache folder if it isn't exists
+if [ ! -d "$HOME/.cache/zsh" ]; then
+    mkdir -p $HOME/.cache/zsh
+fi
+
+# Define a custom file for compdump
+export ZSH_COMPDUMP="$HOME/.cache/zsh/zcompdump-$HOST-$ZSH_VERSION"
 
 export EDITOR="code -r"
 
diff --git a/dotfiles/docker.bash b/dotfiles/docker.bash
index 3a52da200ecbdc021eaa9d059b6fa6ce13dcfd11..5dcff22123f7bf060768694f68d60612198382f8 100644
--- a/dotfiles/docker.bash
+++ b/dotfiles/docker.bash
@@ -20,16 +20,12 @@ function dsr() {
 	docker stop $1;docker rm $1
 }
 
-function runscan() {
-	rocker --home --user --nvidia --x11 --ssh --git --name scannplan scan_and_plan:latest $1
-}
-
 function rundoc() {
-	rocker --home --user --nvidia --x11 --ssh --git --volume /dev/video0:/dev/video0 --privileged --name melodic devenv:melodic $1
+	rocker --home --user --nvidia --x11 --ssh --git --volume /dev/video0:/dev/video0 --privileged --name melodic --network host devenv:melodic $1
 }
 
-function runbezier() {
-	rocker --home --user --nvidia --x11 --ssh --git --volume /dev/video0:/dev/video0 --privileged --name bezier devenv:bezier $1
+function runmelodic() {
+	rocker --home --user --nvidia --x11 --ssh --git  --name melodic devenv:melodic $1
 }
 
 function runnoetic() {
@@ -40,7 +36,7 @@ function runkinetic() {
 	rocker --home --user --nvidia --x11 --ssh --git --name kinetic devenv:kinetic $1
 }
 
-function drma {
+function drma() {
 	docker rm $(docker ps -a -f status=exited -q)
 }
 
diff --git a/For_Ubuntu20_04.adoc b/notes/For_Ubuntu20_04.adoc
similarity index 100%
rename from For_Ubuntu20_04.adoc
rename to notes/For_Ubuntu20_04.adoc
diff --git a/notes/ManuWind_ScanNPlan.md b/notes/ManuWind_ScanNPlan.md
new file mode 100644
index 0000000000000000000000000000000000000000..e2674f3a53e233f4f1c9e63e4fc6c83e487e4142
--- /dev/null
+++ b/notes/ManuWind_ScanNPlan.md
@@ -0,0 +1,75 @@
+# ManuWind - Scan and Plan DEMO
+
+**Note** This project works on Kinetic.
+
+1. Download the [godel_fanuc_config package](https://git.code.tecnalia.com/tecnalia_robotics/rosin/godel_fanuc_config/-/tree/Jon-O-laser-integration):
+    ````
+    mkdir -p ~/ros/kinetic/scannplan_ws/src
+    cd ~/ros/kinetic/scannplan_ws/src
+    git clone git@git.code.tecnalia.com:tecnalia_robotics/rosin/godel_fanuc_config.git
+    ````
+
+2. Checkout the Jon-O-laser-integration branch.
+
+    ````
+    cd godel_fanuc_config
+    git checkout Jon-O-laser-integration
+    ````
+
+3. Install the additional ros packages using .rosinstall:
+
+    ````
+    cd ~/ros/kinetic/scannplan_ws/src
+
+    wstool init
+    wstool merge godel_fanuc_config/.rosinstall
+    wstool update
+    rosdep install -iy --from-paths .
+
+    catkin build
+    ````
+
+**Note** The package quelltech_laser_scanner_driver requires an Internet connection during the building process.
+
+**Note** Zivid camera requires [SDK 1.8.1](https://www.zivid.com/downloads/revisions/1.8.1):
+
+- [zivid 1.8.1+6967bc1b-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid_1.8.1+6967bc1b-1_amd64.deb)
+
+- [zivid-studio 1.8.1+6967bc1b-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-studio_1.8.1+6967bc1b-1_amd64.deb)
+
+- [zivid-tools 1.8.1+6967bc1b-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-tools_1.8.1+6967bc1b-1_amd64.deb)
+
+- [zivid-telicam-driver 3.0.1.1-1](https://www.zivid.com/hubfs/softwarefiles/releases/1.8.1+6967bc1b-1/u16/zivid-telicam-driver_3.0.1.1-1_amd64.deb)
+
+- ros-kinetic-zivid-camera 1.0.0-0xenial
+
+## Docker image
+
+Command to build the docker image to work on a host with Ubuntu 20.04:
+
+````
+docker build -t scan_and_plan --build-arg USER_API_KEY_ARTIFACTS_TECNALIA="$(cat ~/.ssh/user_api_key_artifacts_tecnalia)" -f ScanNPlan.Dockerfile .
+````
+<!-- Testing ddeploy
+Using [ddeploy](https://git.code.tecnalia.com/tecnalia_robotics/flexbotics/flexbotics_utils/ddeploy)
+
+ddeploy --name scan_and_plan_nvidia --distro kinetic -b tecnalia-robotics-docker.artifact.tecnalia.com/flexbotics-base-nvidia-devel:kinetic -s . --keep-source 
+Generates: clinfo error
+
+ddeploy --name scan_and_plan_nvidia_cuda --distro kinetic -b nvidia/cuda:11.3.0-base-ubuntu16.04 -s . --keep-sources
+Generate: Missing sources etc...
+-->
+
+Command to launch the docker image using [rocker](https://github.com/osrf/rocker)
+
+````
+rocker --privileged --devices /dev/bus/usb --nvidia --x11 --home --git --ssh scannplan
+````
+<!-- If --user flag is passed as argument when the container is launched with rocker then sudo privileged is required to access to the Zivid camera. -->
+
+Commands to launch the demo:
+````
+source /opt/ros/kinetic/setup.bash
+source ~/ros/kinetic/scannplan_ws/devel/setup.bash
+roslaunch godel_cr7ial_workspace_support cr7ial_blending.launch sim_laser:=false sim_sensor:=false use_sim:=false
+````
\ No newline at end of file
diff --git a/notes/ROS 2.md b/notes/ROS 2.md
new file mode 100644
index 0000000000000000000000000000000000000000..e645ac4656231a9426fa744f4312c9e4f21b9541
--- /dev/null
+++ b/notes/ROS 2.md	
@@ -0,0 +1,106 @@
+ROS 2
+
+Create package
+
+ros2 pkg create --build-type ament_python cartographer_slam --dependencies rclpy
+
+rosbridge
+
+source ~/catkin_ws/devel/setup.bash
+roslaunch load_params load_params.launch
+
+source /opt/ros/noetic/setup.bash
+source /opt/ros/foxy/setup.bash
+ros2 run ros1_bridge parameter_bridge
+
+
+Gazebo simulator
+
+source ~/simulation_ws/devel/setup.bash
+roslaunch rb1_base_gazebo ros2_workshop_rb1.launch
+
+
+Program
+
+source ~/ros2_ws/instal/setup.bash
+ros2 launch exercise_robot exercise_robot.launch.py
+
+Service
+
+ros2 service call /launch_robot std_srvs/srv/Empty {}\
+
+Mapping
+
+Localization
+
+Path Planning
+
+Launching path planning in ROS Nav2
+To launch path planning you need to launch several nodes. On top of that, you need to have some other nodes required for path planning:
+
+REQUIREMENTS
+
+Prior to launching the path planning system, you need to have running the following nodes:
+
+You need to have the nav2_map_server node running
+You need to have the nav2_amcl node running
+You need to have the nav2_lifecycle_manager node running
+TO LAUNCH PATH PLANNING
+
+You need to launch 4 more nodes:
+
+The planner
+The controller
+The manager of recovery behaviors
+The behavior tree navigator
+
+MoveIT2
+ros2 launch my_moveit2_config my_planning_execution.launch.py launch_rviz:=true
+
+Action bridge
+source /home/simulations/ros2_sims_ws/install/setup.bash
+source install/setup.bash
+ros2 run ros1_bridge action_bridge ros1 control_msgs FollowJointTrajectory /arm_controller/follow_joint_trajectory
+
+Parameter Bridge
+source catkin_ws/devel/setup.bash
+roslaunch load_params load_params.launch
+source /home/simulations/ros2_sims_ws/install/setup.bash
+ros2 run ros1_bridge parameter_bridge __name:=parameter_bridge
+
+Move group test
+source ~/ros2_ws/install/setup.bash
+ros2 launch moveit2_scripts test_trajectory.launch.py
+
+
+- Translation: [-0.234, -0.171, 0.507]
+- Rotation: in Quaternion [-0.706, 0.044, 0.707, 0.000]
+
+
+The process for launching the ros1_bridge with the UR is a little different. Follow these steps:
+
+   Execute in Shell #1
+roslaunch load_params load_params.launch
+source ~/catkin_ws/devel/setup.bash
+roslaunch load_params load_params.launch
+   Execute in Shell #2
+source /opt/ros/noetic/setup.bash
+source /home/simulations/ros2_sims_ws/install/setup.bash
+ros2 launch start_bridge start_bridge.launch.py
+   Execute in Shell #3
+
+
+
+   source ~/simulation_ws/devel/setup.bash
+   roslaunch rb1_base_gazebo ros2_workshop_ur3.launch
+
+   source ~/catkin_ws/devel/setup.bash
+   roslaunch load_params load_params.launch
+
+   source /opt/ros/noetic/setup.bash
+   source /home/simulations/ros2_sims_ws/install/setup.bash
+   ros2 launch start_bridge start_bridge.launch.py
+
+   source /opt/ros/noetic/setup.bash
+   source /opt/ros/foxy/setup.bash
+   ros2 run ros1_bridge parameter_bridge __name:=parameter_bridge
\ No newline at end of file
diff --git a/notes/ScanNPlan_notes b/notes/ScanNPlan_notes
new file mode 100644
index 0000000000000000000000000000000000000000..94d7a555e6e6bee98ed16847c29745fbfaa1eb44
--- /dev/null
+++ b/notes/ScanNPlan_notes
@@ -0,0 +1,19 @@
+1. Clone from git@git.code.tecnalia.com:tecnalia_robotics/rosin/godel_fanuc_config.git
+2. Switch to branch Jon-O-laser-integration
+3. Build ws with catkin build --continue-on-failure
+    Failures:
+        godel_surface_detection
+        descartes_moveit
+        irb2400_ikfast_manipulator_plugin
+        abb_irb1200_5_90_ikfast_manipulator_plugin
+4. Change Affine3 by Isometry3 on:
+	descartes
+	cr7ial_descartes_ikfast_adapter
+	godel_process_planning 
+	godel_robots
+5. Add eigen_conversions as dependency in package godel_surface_detection (CMakeList.txt and package.xml)
+6. Change boost::shared_ptr and boost::const_pointer_cast by std equivalents on:
+ 	irb2400_ikfast_manipulator_plugin
+	abb_irb1200_5_90_ikfast_manipulator_plugin
+7. Deal with abb_irb2400_descartes issues
+8. Install zivid-ros v1.1.0
diff --git a/notes/Sherlock_APP.md b/notes/Sherlock_APP.md
new file mode 100644
index 0000000000000000000000000000000000000000..b2f580bf5b95d8545d8264360839dba4a31dd19c
--- /dev/null
+++ b/notes/Sherlock_APP.md
@@ -0,0 +1,162 @@
+# Sherlock Integration DEMO
+
+**Note** This project works on Melodic.
+
+1. Download the [sherlock_app package](https://git.code.tecnalia.com/tecnalia_robotics/sherlock/sherlock_app):
+    ````
+    mkdir -p ~/ros/melodic/sherlock_app_ws/src
+    cd ~/ros/melodic/sherlock_app_ws/src
+    git clone git@git.code.tecnalia.com:tecnalia_robotics/sherlock/sherlock_app.git
+    ````
+
+3. Install additional ros packages using .rosinstall:
+
+    ````
+    cd ~/ros/melodic/sherlock_app_ws/src
+
+    wstool init
+    wstool merge godel_fanuc_config/.rosinstall
+    wstool update
+    rosdep install -iy --from-paths .
+
+    catkin build
+    ````
+
+30/08/2021 Tratando de hacer wstool update and rosdep install
+
+**Error:** the following packages/stacks could not have their rosdep keys resolved
+to system dependencies:
+ros_vision_pipelines: Cannot locate rosdep definition for [vision_data_all_purpose]
+
+Solved adding missing dependencies to .rosinstall:
+
+- git:
+    local-name: vision_libraries
+    uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries.git
+    version: melodic-devel
+- git:
+    local-name: vision_object_detection_plugins
+    uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_object_detection_plugins.git
+    version: melodic-devel
+- git:
+    local-name: vision_libraries_additionals_tools
+    uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries_additionals_tools.git
+    version: melodic-devel
+- git:
+    local-name: gl_depth_sim
+    uri: https://github.com/Jmeyer1292/gl_depth_sim.git
+    version: master
+
+
+### Branches on local
+- ira_laser_tools -- master
+- flexbotics_dynamic_docking  -- front_camera_tracking
+- dual_arm_guidance_information_manager -- 1-update-to-new-ui-aspect -- fixed
+
+RuntimeError: Multiple packages found with the same name "robotnik_sensors":
+- robotnik_sensors
+- tecnalia_rbrobout_simulation/robotnik/robotnik_sensors
+
+Removed from .rosinstall
+- git: 
+   local-name: robotnik_sensors
+   version: kinetic-devel                                   
+   uri: https://github.com/RobotnikAutomation/robotnik_sensors.git
+
+Which one is the good version?? -- On ROBOUTON  * 4cd2513 (HEAD -> kinetic-devel, origin/kinetic-devel, origin/HEAD) Apply clang format
+
+ADD
+- git:
+    local-name: flexbotics_action_base_classes
+    version: kinetic-devel
+    uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_skill_library/flexbotics_action_base_classes.git
+
+- git:
+    local-name: flexbotics_execution_manager
+    uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics_execution_manager.git
+    version: kinetic-devel
+
+ - git:
+    local-name: gl_depth_sim
+    uri: https://github.com/Jmeyer1292/gl_depth_sim.git
+    version: master
+
+- git:
+    local-name: vision_libraries_additionals_tools
+    uri: 'git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/vision/vision_libraries_additionals_tools.git'
+    version: 'melodic-devel'
+
+
+31/09/2021 Trabajando con el archivo con Notas despues de reunión con Aitor
+
+Remover paquete:
+1. wsg50-ros-pkg-tecnalia
+Resultado:
+Es dependencia de flexbotics_electric_gripper_manager que hace parte del package flexbotics_manipulator_manager
+Es necesario remover el paquete:
+2. flexbotics_robots_rbrobout
+
+Remover paquetes:
+3. robotnik_sensors
+4. tecnalia_rbrobout_simulation
+Resultado:
+flexbotics_robots_rbrobout_launch: Cannot locate rosdep definition for [rbrobout_gazebo]
+flexbotics_robots_rbrobout_moveit_config: Cannot locate rosdep definition for [rbrobout_description]
+
+5. flexbotic_manipulator_manager -- Estaba marcado como cosas de PAUL
+
+Remover paquete:
+6. iiwa_ros_io_server
+
+Remover paquete:
+7. sherlock_guidance_demo
+
+Remover paquete:
+8. robouton_tecnalia
+
+Remover paquete:
+9. ira_laser_tools
+
+Remover paquetes:
+10. remodel_vs_test
+11. rcomponent
+
+Rmover paquetes:
+12. dummy_application
+
+Remover paquete:
+13. flexbotics_scene_manager
+Resultado:
+Es dependencia de 
+14. flexbotics_manipulation_planner
+
+Remover paquete:
+15. flexbotics_moveit_interface
+
+-- El WS compila pero al hacer un launch se producen un error por la dependencia del paquete
+flexbotics_robots_rbrobout
+Siendo necesario incluir estos tres paquetes:
+ - git:
+    local-name: flexbotics_robots_rbrobout
+    uri : 'git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_robots/flexbotics_robots_rbrobout.git'
+    version: melodic-devel
+ - git: 
+    local-name: tecnalia_rbrobout_simulation
+    version: kinetic-devel                                   
+    uri: git@git.code.tecnalia.com:tecnalia_robotics/flexbotics/flexbotics_robots/tecnalia_rbrobout_simulation
+ - git: 
+    local-name: rcomponent
+    version: master                                          
+    uri: https://github.com/RobotnikAutomation/rcomponent.git
+
+-- Launch falla por dependencia del paquete:
+Resource not found: robouton_tecnalia
+Siendo necesario incluir:
+ - git: 
+    local-name: robouton_tecnalia
+    version: kinetic-devel                                   
+    uri: git@git.code.tecnalia.com:tecnalia_robotics/robouton_tecnalia.git
+
+Separados los workspaces robouton_ws y sherlock_app_dev
+
+sherlock_app_dev debe ser una extensión explicita del workspace core (robouton_ws)
\ No newline at end of file
diff --git a/notes/notas b/notes/notas
new file mode 100644
index 0000000000000000000000000000000000000000..1b73128b26c2e8128765cd136a4539ffc795d8e3
--- /dev/null
+++ b/notes/notas
@@ -0,0 +1,23 @@
+# flange_H^tool transformation
+    fHt_pose_x = Column(Float,default=0.0)
+    fHt_pose_y = Column(Float,default=0.0)
+    fHt_pose_z = Column(Float,default=0.0)
+    fHt_roll = Column(Float,default=0.0)
+    fHt_pitch = Column(Float,default=0.0)
+    fHt_yaw = Column(Float,default=0.0)
+    # flange_H^cam transformation
+    # tf_fHc_pose_x = Column(Float,default=0.0)
+    # tf_fHc_pose_y = Column(Float,default=0.0)
+    # tf_fHc_pose_z = Column(Float,default=0.0)
+    # tf_fHc_roll = Column(Float,default=0.0)
+    # tf_fHc_pitch = Column(Float,default=0.0)
+    # tf_fHc_yaw = Column(Float,default=0.0)
+
+
+
+MAC WKM0125A:
+	DOCKER		C8:F7:50:D4:6C:EA
+	WIFI		04:EA:56:36:F3:CB
+	ETHERNET	62:D1:94:03:68:75
+
+