diff --git a/src/ezbot_robot/CMakeLists.txt b/src/ezbot_command_module/CMakeLists.txt
similarity index 77%
rename from src/ezbot_robot/CMakeLists.txt
rename to src/ezbot_command_module/CMakeLists.txt
index 5511476..5808de5 100644
--- a/src/ezbot_robot/CMakeLists.txt
+++ b/src/ezbot_command_module/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(ezbot_robot)
+project(ezbot_command_module)
 
 # Default to C99
 if(NOT CMAKE_C_STANDARD)
@@ -33,22 +33,9 @@ if(BUILD_TESTING)
 endif()
 
 install(
-  DIRECTORY config description launch worlds meshes media
+  DIRECTORY config launch
   DESTINATION share/${PROJECT_NAME}
 )
 
-install(
-  DIRECTORY media/
-  DESTINATION $ENV{HOME}/.gazebo/media/
-)
-
-install(
-  DIRECTORY media/
-  DESTINATION $ENV{HOME}/.gazebo/media/
-)
-
-install(PROGRAMS
-  launch/camerapubsub.py
-  DESTINATION lib/${PROJECT_NAME})
 
 ament_package()
diff --git a/src/ezbot_robot/LICENSE.md b/src/ezbot_command_module/LICENSE.md
similarity index 100%
rename from src/ezbot_robot/LICENSE.md
rename to src/ezbot_command_module/LICENSE.md
diff --git a/src/ezbot_robot/README.md b/src/ezbot_command_module/README.md
similarity index 100%
rename from src/ezbot_robot/README.md
rename to src/ezbot_command_module/README.md
diff --git a/src/ezbot_robot/package.xml b/src/ezbot_command_module/package.xml
similarity index 72%
rename from src/ezbot_robot/package.xml
rename to src/ezbot_command_module/package.xml
index 97647de..6182e50 100644
--- a/src/ezbot_robot/package.xml
+++ b/src/ezbot_command_module/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>ezbot_robot</name>
+  <name>ezbot_command_module</name>
   <version>0.0.0</version>
-  <description>TODO: Package description</description>
+  <description>Package for all ros nodes related to tje esnot </description>
   <maintainer email="my_email@email.com">MY NAME</maintainer>
   <license>TODO: License declaration</license>
 
@@ -12,11 +12,6 @@
 
   <depend>rclcpp</depend>
   <depend>std_msgs</depend>
-  <depend>cv_bridge</depend>
-  <depend>image_transport</depend>
-  <!-- TODO add controller manager dependency-->
-  <!--
-    removed opencv, even though we need it-->
   <depend>rclpy</depend>
 
   <test_depend>ament_lint_auto</test_depend>