diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetAction.msg b/humanoid_common_msgs/msg/humanoid_follow_targetAction.msg
deleted file mode 100644
index 414a05340dd13adfe5f83e91b2a9cd3f1e9ab306..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_follow_targetAction.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-humanoid_follow_targetActionGoal action_goal
-humanoid_follow_targetActionResult action_result
-humanoid_follow_targetActionFeedback action_feedback
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetActionFeedback.msg b/humanoid_common_msgs/msg/humanoid_follow_targetActionFeedback.msg
deleted file mode 100644
index 1fd67e2ba5730aef8d562bf458dd981e270c83af..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_follow_targetActionFeedback.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-Header header
-actionlib_msgs/GoalStatus status
-humanoid_follow_targetFeedback feedback
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetActionGoal.msg b/humanoid_common_msgs/msg/humanoid_follow_targetActionGoal.msg
deleted file mode 100644
index c4fe78c79bde1c0b947d36b05d67ec3910317399..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_follow_targetActionGoal.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-Header header
-actionlib_msgs/GoalID goal_id
-humanoid_follow_targetGoal goal
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetActionResult.msg b/humanoid_common_msgs/msg/humanoid_follow_targetActionResult.msg
deleted file mode 100644
index 5ae6aee6212cc1129f5b943de655425f6c0e76f4..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_follow_targetActionResult.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-Header header
-actionlib_msgs/GoalStatus status
-humanoid_follow_targetResult result
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetFeedback.msg b/humanoid_common_msgs/msg/humanoid_follow_targetFeedback.msg
deleted file mode 100644
index ffc82fb65e6fbf7bf92882f0d0485ebd45b9bcc2..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_follow_targetFeedback.msg
+++ /dev/null
@@ -1,6 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-#feedback
-float32 current_pan
-float32 current_tilt
-
-
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetGoal.msg b/humanoid_common_msgs/msg/humanoid_follow_targetGoal.msg
deleted file mode 100644
index 91594520145838da1cab94614195ad47a92e3532..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_follow_targetGoal.msg
+++ /dev/null
@@ -1,6 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-#goal definition
-float32 target_pan
-float32 target_tilt
-float32[] pan_range
-float32[] tilt_range
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetResult.msg b/humanoid_common_msgs/msg/humanoid_follow_targetResult.msg
deleted file mode 100644
index 979b112f8d3158f6549e88adf219c322fdeaa527..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_follow_targetResult.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-#result definition
-bool    successful
diff --git a/humanoid_common_msgs/msg/humanoid_gripperAction.msg b/humanoid_common_msgs/msg/humanoid_gripperAction.msg
deleted file mode 100644
index 227fc76b2f0bf16c9c8e1e406152077eeee62d63..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_gripperAction.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-humanoid_gripperActionGoal action_goal
-humanoid_gripperActionResult action_result
-humanoid_gripperActionFeedback action_feedback
diff --git a/humanoid_common_msgs/msg/humanoid_gripperActionFeedback.msg b/humanoid_common_msgs/msg/humanoid_gripperActionFeedback.msg
deleted file mode 100644
index 7d858065c756047fbfc67101618f65546ea05c77..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_gripperActionFeedback.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-Header header
-actionlib_msgs/GoalStatus status
-humanoid_gripperFeedback feedback
diff --git a/humanoid_common_msgs/msg/humanoid_gripperActionGoal.msg b/humanoid_common_msgs/msg/humanoid_gripperActionGoal.msg
deleted file mode 100644
index d80f3b016171b1dbc0dd1e6c9082215190cec9b1..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_gripperActionGoal.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-Header header
-actionlib_msgs/GoalID goal_id
-humanoid_gripperGoal goal
diff --git a/humanoid_common_msgs/msg/humanoid_gripperActionResult.msg b/humanoid_common_msgs/msg/humanoid_gripperActionResult.msg
deleted file mode 100644
index 5f7864599f3e79b3f74de298ec05252421b131c8..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_gripperActionResult.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-Header header
-actionlib_msgs/GoalStatus status
-humanoid_gripperResult result
diff --git a/humanoid_common_msgs/msg/humanoid_gripperFeedback.msg b/humanoid_common_msgs/msg/humanoid_gripperFeedback.msg
deleted file mode 100644
index adfab76838b6e8e40cbb7dc88e7324ed06407d27..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_gripperFeedback.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-#feedback
-float32 current_angle_top
-float32 current_angle_bot
-
diff --git a/humanoid_common_msgs/msg/humanoid_gripperGoal.msg b/humanoid_common_msgs/msg/humanoid_gripperGoal.msg
deleted file mode 100644
index 595913544b5b01832b2a6189ceda6daa68bfa305..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_gripperGoal.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-#goal definition
-bool    open
diff --git a/humanoid_common_msgs/msg/humanoid_gripperResult.msg b/humanoid_common_msgs/msg/humanoid_gripperResult.msg
deleted file mode 100644
index 979b112f8d3158f6549e88adf219c322fdeaa527..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_gripperResult.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-#result definition
-bool    successful
diff --git a/humanoid_common_msgs/msg/humanoid_motionAction.msg b/humanoid_common_msgs/msg/humanoid_motionAction.msg
deleted file mode 100644
index dc70ec5918ca168fa9219ac29f0e465b7084f574..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_motionAction.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-humanoid_motionActionGoal action_goal
-humanoid_motionActionResult action_result
-humanoid_motionActionFeedback action_feedback
diff --git a/humanoid_common_msgs/msg/humanoid_motionActionFeedback.msg b/humanoid_common_msgs/msg/humanoid_motionActionFeedback.msg
deleted file mode 100644
index ff4d78658ed6fd80047df5efc571adc156120cce..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_motionActionFeedback.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-Header header
-actionlib_msgs/GoalStatus status
-humanoid_motionFeedback feedback
diff --git a/humanoid_common_msgs/msg/humanoid_motionActionGoal.msg b/humanoid_common_msgs/msg/humanoid_motionActionGoal.msg
deleted file mode 100644
index d0e38d3f12a26b1298e663b217cbef962650a020..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_motionActionGoal.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-Header header
-actionlib_msgs/GoalID goal_id
-humanoid_motionGoal goal
diff --git a/humanoid_common_msgs/msg/humanoid_motionActionResult.msg b/humanoid_common_msgs/msg/humanoid_motionActionResult.msg
deleted file mode 100644
index 58b2f12e2d309d83270a25d5087e68a5d41ff3d7..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_motionActionResult.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-Header header
-actionlib_msgs/GoalStatus status
-humanoid_motionResult result
diff --git a/humanoid_common_msgs/msg/humanoid_motionFeedback.msg b/humanoid_common_msgs/msg/humanoid_motionFeedback.msg
deleted file mode 100644
index a729a54550f0a0ed5e5319a6a069228ff2ae34df..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_motionFeedback.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-#feedback
-int32   current_page
-int32   current_step
-
diff --git a/humanoid_common_msgs/msg/humanoid_motionGoal.msg b/humanoid_common_msgs/msg/humanoid_motionGoal.msg
deleted file mode 100644
index a9d8514e999c5743690c3507ef641b879fa8ce40..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_motionGoal.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-#goal definition
-int32   motion_id
diff --git a/humanoid_common_msgs/msg/humanoid_motionResult.msg b/humanoid_common_msgs/msg/humanoid_motionResult.msg
deleted file mode 100644
index 979b112f8d3158f6549e88adf219c322fdeaa527..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_motionResult.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-#result definition
-bool    successful
diff --git a/humanoid_common_msgs/msg/humanoid_stairsAction.msg b/humanoid_common_msgs/msg/humanoid_stairsAction.msg
deleted file mode 100644
index e73bdd483e4c004e623aca284f81cfff6fd323f1..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_stairsAction.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-humanoid_stairsActionGoal action_goal
-humanoid_stairsActionResult action_result
-humanoid_stairsActionFeedback action_feedback
diff --git a/humanoid_common_msgs/msg/humanoid_stairsActionFeedback.msg b/humanoid_common_msgs/msg/humanoid_stairsActionFeedback.msg
deleted file mode 100644
index e2b64283debdeedc0cd5c8e28c61cad7d79b5a61..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_stairsActionFeedback.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-Header header
-actionlib_msgs/GoalStatus status
-humanoid_stairsFeedback feedback
diff --git a/humanoid_common_msgs/msg/humanoid_stairsActionGoal.msg b/humanoid_common_msgs/msg/humanoid_stairsActionGoal.msg
deleted file mode 100644
index 48705914e7b835bf088c7d00aa23eed249889797..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_stairsActionGoal.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-Header header
-actionlib_msgs/GoalID goal_id
-humanoid_stairsGoal goal
diff --git a/humanoid_common_msgs/msg/humanoid_stairsActionResult.msg b/humanoid_common_msgs/msg/humanoid_stairsActionResult.msg
deleted file mode 100644
index 046a7d3a125893ef17756e5fa881283b7a6bf0da..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_stairsActionResult.msg
+++ /dev/null
@@ -1,5 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-
-Header header
-actionlib_msgs/GoalStatus status
-humanoid_stairsResult result
diff --git a/humanoid_common_msgs/msg/humanoid_stairsFeedback.msg b/humanoid_common_msgs/msg/humanoid_stairsFeedback.msg
deleted file mode 100644
index 86ec2334c27d9b1529c2e6adc1eebeeae6a3fcc0..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_stairsFeedback.msg
+++ /dev/null
@@ -1,4 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-#feedback
-int32   current_phase
-
diff --git a/humanoid_common_msgs/msg/humanoid_stairsGoal.msg b/humanoid_common_msgs/msg/humanoid_stairsGoal.msg
deleted file mode 100644
index 9d2eb2517a37ad3815dc183f033178d912627cc8..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_stairsGoal.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-#goal definition
-bool    up
diff --git a/humanoid_common_msgs/msg/humanoid_stairsResult.msg b/humanoid_common_msgs/msg/humanoid_stairsResult.msg
deleted file mode 100644
index 979b112f8d3158f6549e88adf219c322fdeaa527..0000000000000000000000000000000000000000
--- a/humanoid_common_msgs/msg/humanoid_stairsResult.msg
+++ /dev/null
@@ -1,3 +0,0 @@
-# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
-#result definition
-bool    successful
diff --git a/qr_detector/include/.qr_detector_driver.h.swp b/qr_detector/include/.qr_detector_driver.h.swp
deleted file mode 100644
index b1aa67cdfa285d2450455b304169e07f8a6958a1..0000000000000000000000000000000000000000
Binary files a/qr_detector/include/.qr_detector_driver.h.swp and /dev/null differ