diff --git a/README.md b/README.md
index febccd5..c6b37c9 100644
--- a/README.md
+++ b/README.md
@@ -41,31 +41,38 @@ To install ROS2 and vcs natively: https://docs.ros.org/en/humble/Installation/Ub
 Note: At the step `sudo apt install ros-humble-desktop` do `sudo apt install ros-humble-desktop-full` instead.
 
 ```bash
-git clone https://github.com/gazebosim/ros_gz.git -b humble # Install gazebo locally
 git clone https://github.com/clubcapra/rove.git
 vcs import src < rove.repos
+sudo rosdep init
+rosdep update
+rosdep install --from-paths src --ignore-src -r -y
 colcon build --symlink-install
 source install/setup.bash
 ```
 
+If you intend to control the robot you might need to add the hardware package to the build (If you aren't sure, you probably don't need it):
+
+```bash
+vcs import src < rove_hw.repos
+rosdep install --from-paths src --ignore-src -r -y
+colcon build --symlink-install
+source install/setup.bash
+```
+
+
 ## Running Rove in simulation
 
 IF YOU ARE RUNNING IN WSL: do this command
 ```bash
 export LIBGL_ALWAYS_INDIRECT=0 export LIBGL_ALWAYS_SOFTWARE=1
 ```
-Do these commands to run the gazebo simulation with physics enabled
+
+Do these commands to run the gazebo simulation with physics enabled :
 ```bash
 colcon build --symlink-install
 source install/setup.bash
 ros2 launch rove_bringup sim.launch.py
 ```
-OR Do these commands to only run the rviz simulation (with joints control)
-```bash
-colcon build --symlink-install
-source install/setup.bash
-ros2 launch rove_description launch.py
-```
 
 ## Running the controller with a usb cable
 
diff --git a/rove.repos b/rove.repos
index a8a8d83..3919312 100644
--- a/rove.repos
+++ b/rove.repos
@@ -6,32 +6,4 @@ repositories:
   ovis_ros2:
     type: git
     url: https://github.com/clubcapra/ovis_ros2
-    version: new-env-with-arm
-  ros_odrive:
-    type: git
-    url: https://github.com/IliTheButterfly/ros_odrive.git
-    version: 0fa84d3745a8c385076d29b7f54971e9f2d14de7
-  vectornav:
-    type: git
-    url: https://github.com/dawonn/vectornav.git
-    version: ros2
-  zed_wrapper:
-    type: git
-    url: https://github.com/stereolabs/zed-ros2-wrapper.git
-    version: master
-  zed_wrapper/zed-ros2-interfaces:
-    type: git
-    url: https://github.com/stereolabs/zed-ros2-interfaces.git
-    version: main
-  ros2_robotiq_gripper:
-    type: git
-    url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
-    version: main
-  serial:
-    type: git
-    url: https://github.com/tylerjw/serial.git
-    version: ros2
-  ros2_control:
-    type: git
-    url: https://github.com/ros-controls/ros2_control.git
-    version: humble
+    version: new-env-with-arm
\ No newline at end of file
diff --git a/rove_hw.repos b/rove_hw.repos
new file mode 100644
index 0000000..5d53e32
--- /dev/null
+++ b/rove_hw.repos
@@ -0,0 +1,25 @@
+repositories:
+  ros_odrive:
+    type: git
+    url: https://github.com/IliTheButterfly/ros_odrive.git
+    version: 0fa84d3745a8c385076d29b7f54971e9f2d14de7
+  vectornav:
+    type: git
+    url: https://github.com/dawonn/vectornav.git
+    version: ros2
+  zed_wrapper:
+    type: git
+    url: https://github.com/stereolabs/zed-ros2-wrapper.git
+    version: master
+  zed_wrapper/zed-ros2-interfaces:
+    type: git
+    url: https://github.com/stereolabs/zed-ros2-interfaces.git
+    version: main
+  ros2_robotiq_gripper:
+    type: git
+    url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
+    version: main
+  serial:
+    type: git
+    url: https://github.com/tylerjw/serial.git
+    version: ros2
diff --git a/src/rove_bringup/launch/common.launch.py b/src/rove_bringup/launch/common.launch.py
index 4cb5818..500fe90 100644
--- a/src/rove_bringup/launch/common.launch.py
+++ b/src/rove_bringup/launch/common.launch.py
@@ -113,7 +113,7 @@ def generate_launch_description():
             # robot_localization_node_global,
             #navsat_transform,
             twist_mux,
-            #rviz,
+            rviz,
             teleop,
-            #autonomy,
+            autonomy,
             ])
diff --git a/src/rove_bringup/package.xml b/src/rove_bringup/package.xml
index 6a11eab..148782a 100644
--- a/src/rove_bringup/package.xml
+++ b/src/rove_bringup/package.xml
@@ -6,7 +6,7 @@
   <description>The rove_bringup package</description>
   <maintainer email="capra@ens.etsmtl.ca">Capra</maintainer>
   <license>GPLv3</license>
-  
+
   <build_depend>joy</build_depend>
   <build_depend>teleop_twist_joy</build_depend>
   <build_depend>twist_mux</build_depend>
@@ -28,4 +28,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
\ No newline at end of file
diff --git a/src/rove_description/package.xml b/src/rove_description/package.xml
index 596b190..fd6191c 100644
--- a/src/rove_description/package.xml
+++ b/src/rove_description/package.xml
@@ -7,10 +7,13 @@
   <maintainer email="capra@ens.etsmtl.ca">Capra</maintainer>
   <license>MIT</license>
 
+  <build_depend>ros2_control</build_depend>
+
   <exec_depend>rviz2</exec_depend>
   <exec_depend>xacro</exec_depend>
   <exec_depend>velodyne_description</exec_depend>
   <exec_depend>rviz_imu_plugin</exec_depend>
+  <exec_depend>ros2_control</exec_depend>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
@@ -20,4 +23,4 @@
   <export>
     <build_type>ament_cmake</build_type>
   </export>
-</package>
+</package>
\ No newline at end of file
diff --git a/src/rove_navigation/package.xml b/src/rove_navigation/package.xml
index 8d5752f..6e79167 100644
--- a/src/rove_navigation/package.xml
+++ b/src/rove_navigation/package.xml
@@ -18,4 +18,4 @@
   <export>
     <build_type>ament_python</build_type>
   </export>
-</package>
+</package>
\ No newline at end of file
diff --git a/src/rove_zed/package.xml b/src/rove_zed/package.xml
index 0cc0d4c..de360cc 100644
--- a/src/rove_zed/package.xml
+++ b/src/rove_zed/package.xml
@@ -30,4 +30,4 @@
   <export>
     <build_type>ament_python</build_type>
   </export>
-</package>
+</package>
\ No newline at end of file