diff --git a/dependencies.amd64.repos b/dependencies.amd64.repos
deleted file mode 100644
index 6c8b7ad..0000000
--- a/dependencies.amd64.repos
+++ /dev/null
@@ -1,28 +0,0 @@
-repositories:
-
-  # CPS RMP lite 220 Dependencies
-  
-  segwayrmp:
-    type: git
-    url: https://github.com/bjoernellens1/segwayrmp
-    version: humble
-  
-  segway_msgs:
-    type: git
-    url: https://github.com/bjoernellens1/segway_msgs
-    version: main
-
-  RPlidar_ROS2:
-    type: git
-    url: https://github.com/bjoernellens1/sllidar_ros2
-    version: main
-
-  rmp220_teleop:
-    type: git
-    url: https://github.com/bjoernellens1/rmp220_teleop.git
-    version: main
-
-  rmp220_middleware:
-    type: git
-    url: https://github.com/bjoernellens1/rmp220_middleware.git
-    version: main
\ No newline at end of file
diff --git a/dependencies.arm64.repos b/dependencies.arm64.repos
deleted file mode 100644
index d763652..0000000
--- a/dependencies.arm64.repos
+++ /dev/null
@@ -1,28 +0,0 @@
-repositories:
-
-  # CPS RMP lite 220 Dependencies
-  
-  segwayrmp:
-    type: git
-    url: https://github.com/bjoernellens1/segwayrmp
-    version: humble-arm64
-  
-  segway_msgs:
-    type: git
-    url: https://github.com/bjoernellens1/segway_msgs
-    version: main
-
-  RPlidar_ROS2:
-    type: git
-    url: https://github.com/bjoernellens1/sllidar_ros2
-    version: main
-
-  rmp220_teleop:
-    type: git
-    url: https://github.com/bjoernellens1/rmp220_teleop.git
-    version: main
-  
-  rmp220_middleware:
-    type: git
-    url: https://github.com/bjoernellens1/rmp220_middleware.git
-    version: main
\ No newline at end of file
diff --git a/docker/Dockerfile b/docker/Dockerfile
deleted file mode 100644
index 7681702..0000000
--- a/docker/Dockerfile
+++ /dev/null
@@ -1,113 +0,0 @@
-ARG ROS_DISTRO=humble
-ARG UNDERLAY_WS=/rmp_ws
-ARG TARGETPLATFORM
-
-
-# This file should work for both amd64 and arm64 builds. Because segway did not release some source code we must copy some binaries for the specific architectures.
-# That is why we must use some conditional statements to copy over the correct files during build process.
-# Variable TARGETPLATFORM should be auomatically created during build process by docker.
-
-########################################
-# Base Image for Bot Mini Control #
-########################################
-FROM ros:${ROS_DISTRO} as base
-ENV ROS_DISTRO=${ROS_DISTRO}
-#ENV TARGETPLATFORM=$TARGETPLATFORM
-
-SHELL ["/bin/bash", "-c"]
-
-# Create Colcon workspace with external dependencies
-RUN mkdir -p /rmp_ws/src
-WORKDIR /rmp_ws/src
-COPY dependencies.arm64.repos .
-COPY dependencies.amd64.repos .
-
-# Choose correct sources for architecture:
-# Copy platform-specific files
-# Use if condition to copy different files for different platforms
-#RUN echo "TARGETPLATFORM is $TARGETPLATFORM"
-RUN echo "Hardware platform is: $(uname -m)"
-RUN uname -a
-
-RUN echo "update base 23.08.2023"
-
-RUN if [ "$(uname -m)" = "x86_64" ]; then \
-  echo "Copying files for linux/amd64"; \
-  mv dependencies.amd64.repos dependencies.repos; \
-  else \
-  echo "Copying files for linux/arm64"; \
-  mv dependencies.arm64.repos dependencies.repos; \
-  fi
-
-#RUN vcs import < dependencies.repos
-RUN vcs import < dependencies.repos;
-
-# Build the base Colcon workspace, installing dependencies first.
-WORKDIR /rmp_ws
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
-  && apt-get update -y \
-  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
-
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
-  && colcon build --symlink-install
-
-# Use Cyclone DDS as middleware and install xacro
-RUN apt-get update && apt-get install -y --no-install-recommends \
-  ros-${ROS_DISTRO}-rmw-cyclonedds-cpp \
-  ros-${ROS_DISTRO}-xacro \
-  && rm -rf /var/lib/apt/lists/*
-
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-ENV UNDERLAY_WS=${UNDERLAY_WS}
-
-# Set up the entrypoint
-COPY ./docker/entrypoint.sh /
-RUN chmod +x /entrypoint.sh
-
-ENTRYPOINT [ "/entrypoint.sh" ]
-
-###########################################
-# Overlay Image for RMP Control #
-###########################################
-FROM base AS overlay
-
-# Create an overlay Colcon workspace
-RUN mkdir -p /overlay_ws/src
-WORKDIR /overlay_ws/src
-COPY overlay.repos .
-RUN vcs import < overlay.repos
-
-WORKDIR /overlay_ws
-
-RUN echo "update overlay 22.08.2023"
-
-RUN source /rmp_ws/install/setup.bash \
-  && apt-get update \
-  && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
-  && rm -rf /var/lib/apt/lists/*
-
-RUN source /rmp_ws/install/setup.bash \
-  && colcon build --symlink-install
-
-# Set up the entrypoint
-COPY ./docker/entrypoint.sh /
-RUN chmod +x /entrypoint.sh
-
-ENTRYPOINT [ "/entrypoint.sh" ]
-
-###########################################
-# GUI Additions for Ros2 #
-###########################################
-FROM overlay AS guis
-
-# Install additional GUI tools
-RUN source /rmp_ws/install/setup.bash \
-  && apt-get update \
-  && apt-get install -y --no-install-recommends ros-${ROS_DISTRO}-rviz2 \
-  && rm -rf /var/lib/apt/lists/*
-
-# Set up the entrypoint
-ENTRYPOINT [ "/entrypoint.sh" ]
-
-LABEL org.opencontainers.image.source=https://github.com/bjoernellens1/ros2_rmp
\ No newline at end of file
diff --git a/docker/Dockerfile.amd64 b/docker/Dockerfile.amd64
deleted file mode 100644
index ed65b77..0000000
--- a/docker/Dockerfile.amd64
+++ /dev/null
@@ -1,61 +0,0 @@
-ARG ROS_DISTRO=humble
-ARG UNDERLAY_WS=/rmp_ws
- 
-########################################
-# Base Image for Bot Mini Control #
-########################################
-FROM osrf/ros:${ROS_DISTRO}-desktop as base
-ENV ROS_DISTRO=${ROS_DISTRO}
-SHELL ["/bin/bash", "-c"]
- 
-# Create Colcon workspace with external dependencies
-RUN mkdir -p /rmp_ws/src
-WORKDIR /rmp_ws/src
-COPY dependencies.repos .
-RUN vcs import < dependencies.amd64.repos
- 
-# Build the base Colcon workspace, installing dependencies first.
-WORKDIR /rmp_ws
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
- && apt-get update -y \
- && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
- && colcon build --symlink-install
-
-# Use Cyclone DDS as middleware
-RUN apt-get update && apt-get install -y --no-install-recommends \
- ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-ENV UNDERLAY_WS=${UNDERLAY_WS}
-
-###########################################
-# Overlay Image for Bot Mini Control #
-###########################################
-FROM base AS overlay
- 
-# Create an overlay Colcon workspace
-RUN mkdir -p /overlay_ws/src
-WORKDIR /overlay_ws/src
-
-RUN echo "Dummy step"
-COPY overlay.repos .
-RUN vcs import < overlay.repos
-
-WORKDIR /overlay_ws
-# COPY ./tb3_autonomy/ ./src/tb3_autonomy/
-# COPY ./tb3_worlds/ ./src/tb3_worlds/
-RUN source /rmp_ws/install/setup.bash \
- && colcon build --symlink-install \
- && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
-
-# Set up the entrypoint
-COPY ./docker/entrypoint.sh /
-RUN chmod +x /entrypoint.sh
-
-COPY ./controller_startup.sh /
-RUN chmod +x /controller_startup.sh
-
-COPY ./localization_startup.sh /
-RUN chmod +x /localization_startup.sh
-
-ENTRYPOINT [ "/entrypoint.sh" ]
\ No newline at end of file
diff --git a/docker/Dockerfile.arm64 b/docker/Dockerfile.arm64
deleted file mode 100644
index ae96e74..0000000
--- a/docker/Dockerfile.arm64
+++ /dev/null
@@ -1,62 +0,0 @@
-ARG ROS_DISTRO=humble
-ARG UNDERLAY_WS=/rmp_ws
- 
-########################################
-# Base Image for Bot Mini Control #
-########################################
-#FROM --platform=linux/arm64 ros:${ROS_DISTRO} as base
-FROM ros:${ROS_DISTRO} as base
-ENV ROS_DISTRO=${ROS_DISTRO}
-SHELL ["/bin/bash", "-c"]
- 
-# Create Colcon workspace with external dependencies
-RUN mkdir -p /rmp_ws/src
-WORKDIR /rmp_ws/src
-COPY dependencies.repos .
-RUN vcs import < dependencies.arm64.repos
- 
-# Build the base Colcon workspace, installing dependencies first.
-WORKDIR /rmp_ws
-RUN source /opt/ros/${ROS_DISTRO}/setup.bash \
- && apt-get update -y \
- && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y \
- && colcon build --symlink-install
-
-# Use Cyclone DDS as middleware
-RUN apt-get update && apt-get install -y --no-install-recommends \
- ros-${ROS_DISTRO}-rmw-cyclonedds-cpp
-ENV RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
-
-ENV UNDERLAY_WS=${UNDERLAY_WS}
-
-###########################################
-# Overlay Image for Bot Mini Control #
-###########################################
-FROM base AS overlay
- 
-# Create an overlay Colcon workspace
-RUN mkdir -p /overlay_ws/src
-WORKDIR /overlay_ws/src
-
-RUN echo "Dummy step"
-COPY overlay.repos .
-RUN vcs import < overlay.repos
-
-WORKDIR /overlay_ws
-# COPY ./tb3_autonomy/ ./src/tb3_autonomy/
-# COPY ./tb3_worlds/ ./src/tb3_worlds/
-RUN source /rmp_ws/install/setup.bash \
- && colcon build --symlink-install \
- && rosdep install --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} -y
-
-# Set up the entrypoint
-COPY ./docker/entrypoint.sh /
-RUN chmod +x /entrypoint.sh
-
-COPY ./controller_startup.sh /
-RUN chmod +x /controller_startup.sh
-
-COPY ./localization_startup.sh /
-RUN chmod +x /localization_startup.sh
-
-ENTRYPOINT [ "/entrypoint.sh" ]
\ No newline at end of file
diff --git a/init_repo.sh b/init_repo.sh
deleted file mode 100644
index 66544a2..0000000
--- a/init_repo.sh
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/bin/bash
-# Basic entrypoint for ROS / Colcon Docker containers
-
-# Source ROS 2
-source /opt/ros/${ROS_DISTRO}/setup.bash
-echo "Sourced ROS 2 ${ROS_DISTRO}"
-
-# Source the base workspace, if built
-if [ -f ${UNDERLAY_WS}/install/setup.bash ]
-then
-  source ${UNDERLAY_WS}/install/setup.bash
-  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix turtlebot3_gazebo)/share/turtlebot3_gazebo/models
-  echo "Sourced Bot Mini base workspace"
-fi
-
-# Source the overlay workspace, if built
-if [ -f /overlay_ws/install/setup.bash ]
-then
-  source /overlay_ws/install/setup.bash
-  #export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:$(ros2 pkg prefix tb3_worlds)/share/tb3_worlds/models
-  echo "Sourced Bot Mini overlay workspace"
-fi
-
-# Copy over files
-cp -r /overlay_ws/src/* /repo/src/
-
-wait
\ No newline at end of file
diff --git a/install_portainer.sh b/install_portainer.sh
deleted file mode 100644
index ee5af37..0000000
--- a/install_portainer.sh
+++ /dev/null
@@ -1,3 +0,0 @@
-#!/bin/bash
-docker volume create portainer_data
-docker run -d -p 8000:8000 -p 9443:9443 --name portainer --restart=always -v /var/run/docker.sock:/var/run/docker.sock -v portainer_data:/data portainer/portainer-ce:latest
\ No newline at end of file
diff --git a/overlay.repos b/overlay.repos
deleted file mode 100644
index 22fcc92..0000000
--- a/overlay.repos
+++ /dev/null
@@ -1,11 +0,0 @@
-repositories:  
-  
-  cps_rmp220_support:
-    type: git
-    url: https://github.com/bjoernellens1/cps_rmp220_support.git
-    version: main
-
-  cam_openCV:
-    type: git
-    url: https://github.com/bjoernellens1/ros2_cam_openCV.git
-    version: main
\ No newline at end of file
diff --git a/test.rviz b/test.rviz
deleted file mode 100644
index ec86523..0000000
--- a/test.rviz
+++ /dev/null
@@ -1,133 +0,0 @@
-Panels:
-  - Class: rviz_common/Displays
-    Help Height: 85
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-      Splitter Ratio: 0.5
-    Tree Height: 528
-  - Class: rviz_common/Selection
-    Name: Selection
-  - Class: rviz_common/Tool Properties
-    Expanded:
-      - /2D Goal Pose1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz_common/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz_common/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz_default_plugins/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: map
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz_default_plugins/Interact
-      Hide Inactive Objects: true
-    - Class: rviz_default_plugins/MoveCamera
-    - Class: rviz_default_plugins/Select
-    - Class: rviz_default_plugins/FocusCamera
-    - Class: rviz_default_plugins/Measure
-      Line color: 128; 128; 0
-    - Class: rviz_default_plugins/SetInitialPose
-      Covariance x: 0.25
-      Covariance y: 0.25
-      Covariance yaw: 0.06853891909122467
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /initialpose
-    - Class: rviz_default_plugins/SetGoal
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /goal_pose
-    - Class: rviz_default_plugins/PublishPoint
-      Single click: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /clicked_point
-  Transformation:
-    Current:
-      Class: rviz_default_plugins/TF
-  Value: true
-  Views:
-    Current:
-      Class: rviz_default_plugins/Orbit
-      Distance: 10
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0
-        Y: 0
-        Z: 0
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.785398006439209
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 0.785398006439209
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 845
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000015a000002a6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006b00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000044000002a6000000eb00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002a6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000044000002a6000000b900fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004af0000003efc0100000002fb0000000800540069006d00650100000000000004af000002d200fffffffb0000000800540069006d0065010000000000000450000000000000000000000238000002a600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 1199
-  X: 199
-  Y: 115