diff --git a/rosinstalls/helena.rosinstall b/rosinstalls/helena_common.rosinstall
similarity index 76%
rename from rosinstalls/helena.rosinstall
rename to rosinstalls/helena_common.rosinstall
index 6a389d558e7a5fa181c1ab97dc056d063d1acc37..8cd100fb110f6a3711f50bf41903fafc327a73ec 100644
--- a/rosinstalls/helena.rosinstall
+++ b/rosinstalls/helena_common.rosinstall
@@ -1,9 +1,6 @@
 ###helena.rosinstall
 ##################################
 ###navigation/
-- git:
-    local-name: navigation/iri_gazebo_worlds
-    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/navigation/iri_gazebo_worlds.git
 - git:
     local-name: navigation/iri_maps
     uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/navigation/iri_maps.git
@@ -21,9 +18,6 @@
 - git:
     local-name: platforms/pioneer3/iri_pioneer3_description
     uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/platforms/Pioneer3/iri_pioneer3_description.git
-- git:
-    local-name: platforms/pioneer3/iri_pioneer3_bringup
-    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/platforms/Pioneer3/iri_pioneer3_bringup.git
 ##################################
 ###robots/helena
 - git:
@@ -41,17 +35,11 @@
 - git:
     local-name: robots/helena/iri_helena_launch
     uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/robots/helena/iri_helena_launch.git
-- git:
-    local-name: robots/helena/iri_helena_bringup
-    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/robots/helena/iri_helena_bringup.git
 ##################################
 ###sensors
 - git:
     local-name: sensors/ranger3d/iri_robosense_lidar_description
     uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger3d/iri_robosense_lidar_description.git
-- git:
-    local-name: sensors/ranger3d/iri_robosense_lidar_bringup
-    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger3d/iri_robosense_lidar_bringup.git
 - git:
     local-name: sensors/ranger3d/iri_velodyne_gazebo
     uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger3d/iri_velodyne_gazebo.git
@@ -64,9 +52,6 @@
 - git:
     local-name: sensors/imu/iri_bno055_imu_description
     uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/imu/iri_bno055_imu_description.git
-- git:
-    local-name: sensors/imu/iri_bno055_imu_bringup
-    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/imu/iri_bno055_imu_bringup.git
 - git:
     local-name: sensors/imu/iri_imu_gazebo
     uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/imu/iri_imu_gazebo.git
@@ -75,7 +60,4 @@
 - git:
     local-name: external/realsense-ros
     uri: https://github.com/IntelRealSense/realsense-ros.git
-- git:
-    local-name: external/rosaria
-    uri: https://github.com/amor-ros-pkg/rosaria.git
 ##################################
diff --git a/rosinstalls/helena_real.rosinstall b/rosinstalls/helena_real.rosinstall
new file mode 100644
index 0000000000000000000000000000000000000000..b542b2b8128cd46530a6ca2f5167d4b1be382492
--- /dev/null
+++ b/rosinstalls/helena_real.rosinstall
@@ -0,0 +1,28 @@
+###helena.rosinstall
+##################################
+###navigation/
+
+##################################
+###platforms/pioneer3
+- git:
+    local-name: platforms/pioneer3/iri_pioneer3_bringup
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/platforms/Pioneer3/iri_pioneer3_bringup.git
+##################################
+###robots/helena
+- git:
+    local-name: robots/helena/iri_helena_bringup
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/robots/helena/iri_helena_bringup.git
+##################################
+###sensors
+- git:
+    local-name: sensors/ranger3d/iri_robosense_lidar_bringup
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/ranger3d/iri_robosense_lidar_bringup.git
+- git:
+    local-name: sensors/imu/iri_bno055_imu_bringup
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/sensors/imu/iri_bno055_imu_bringup.git
+##################################
+###external
+- git:
+    local-name: external/rosaria
+    uri: https://github.com/amor-ros-pkg/rosaria.git
+##################################
diff --git a/rosinstalls/helena_sim.rosinstall b/rosinstalls/helena_sim.rosinstall
new file mode 100644
index 0000000000000000000000000000000000000000..84b85f3fa1cd0145f74c89f807e4d7fe00c089c6
--- /dev/null
+++ b/rosinstalls/helena_sim.rosinstall
@@ -0,0 +1,19 @@
+###helena.rosinstall
+##################################
+###navigation/
+- git:
+    local-name: navigation/iri_gazebo_worlds
+    uri: ssh://git@gitlab.iri.upc.edu:2202/labrobotica/ros/navigation/iri_gazebo_worlds.git
+##################################
+###platforms/pioneer3
+
+##################################
+###robots/helena
+
+##################################
+###sensors
+
+##################################
+###external
+
+##################################