diff --git a/CMakeLists.txt b/CMakeLists.txt
index a7ac22dca24..4c81535db73 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,3 +3,5 @@ project( roboy_communication )
 
 add_subdirectory( middleware )
 add_subdirectory( simulation )
+add_subdirectory( roboy_communication_control )
+add_subdirectory( roboy_communication_cognition )
diff --git a/cognition/CMakeLists.txt b/roboy_communication_cognition/CMakeLists.txt
similarity index 81%
rename from cognition/CMakeLists.txt
rename to roboy_communication_cognition/CMakeLists.txt
index e53dd604880..4e0337fc0ea 100644
--- a/cognition/CMakeLists.txt
+++ b/roboy_communication_cognition/CMakeLists.txt
@@ -4,9 +4,7 @@ project( roboy_communication_cognition )
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 
 find_package(catkin REQUIRED cmake_modules COMPONENTS
-        roscpp
         std_msgs
-        std_srvs
         message_generation
 )
 
@@ -16,15 +14,11 @@ include_directories(
 )
 
 add_message_files(
-        DIRECTORY
-        msg
         FILES
         SpeechSynthesis.msg
 )
 
 add_service_files(
-        DIRECTORY
-        srv
         FILES
         AssertProperty.srv
         CallQuery.srv
@@ -47,8 +41,9 @@ add_service_files(
 )
 
 generate_messages(
-        DEPENDENCIES std_msgs std_srvs
+  DEPENDENCIES
+  std_msgs
 )
 
-catkin_package( CATKIN_DEPENDS roscpp message_runtime message_generation
+catkin_package( CATKIN_DEPENDS message_runtime std_msgs
                 INCLUDE_DIRS)
diff --git a/cognition/msg/SpeechSynthesis.msg b/roboy_communication_cognition/msg/SpeechSynthesis.msg
similarity index 100%
rename from cognition/msg/SpeechSynthesis.msg
rename to roboy_communication_cognition/msg/SpeechSynthesis.msg
diff --git a/cognition/package.xml b/roboy_communication_cognition/package.xml
similarity index 68%
rename from cognition/package.xml
rename to roboy_communication_cognition/package.xml
index 1ab75ea1af5..ebf81f31bcd 100644
--- a/cognition/package.xml
+++ b/roboy_communication_cognition/package.xml
@@ -6,17 +6,12 @@
   <maintainer email="unicorn@roboy.org">Alona Kharchenko</maintainer>
   <license>BSD-3</license>
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>message_generation</build_depend>
-  <build_depend>message_runtime</build_depend>
   <run_depend>message_runtime</run_depend>
-  <run_depend>message_generation</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
   <run_depend>std_msgs</run_depend>
 
   <export>
+    <architecture_independent/>
   </export>
 </package>
diff --git a/cognition/srv/AssertProperty.srv b/roboy_communication_cognition/srv/AssertProperty.srv
similarity index 100%
rename from cognition/srv/AssertProperty.srv
rename to roboy_communication_cognition/srv/AssertProperty.srv
diff --git a/cognition/srv/CallQuery.srv b/roboy_communication_cognition/srv/CallQuery.srv
similarity index 100%
rename from cognition/srv/CallQuery.srv
rename to roboy_communication_cognition/srv/CallQuery.srv
diff --git a/cognition/srv/CheckProperty.srv b/roboy_communication_cognition/srv/CheckProperty.srv
similarity index 100%
rename from cognition/srv/CheckProperty.srv
rename to roboy_communication_cognition/srv/CheckProperty.srv
diff --git a/cognition/srv/CheckQuery.srv b/roboy_communication_cognition/srv/CheckQuery.srv
similarity index 100%
rename from cognition/srv/CheckQuery.srv
rename to roboy_communication_cognition/srv/CheckQuery.srv
diff --git a/cognition/srv/CreateInstance.srv b/roboy_communication_cognition/srv/CreateInstance.srv
similarity index 100%
rename from cognition/srv/CreateInstance.srv
rename to roboy_communication_cognition/srv/CreateInstance.srv
diff --git a/cognition/srv/DetectFace.srv b/roboy_communication_cognition/srv/DetectFace.srv
similarity index 100%
rename from cognition/srv/DetectFace.srv
rename to roboy_communication_cognition/srv/DetectFace.srv
diff --git a/cognition/srv/EvalSeq2Seq.srv b/roboy_communication_cognition/srv/EvalSeq2Seq.srv
similarity index 100%
rename from cognition/srv/EvalSeq2Seq.srv
rename to roboy_communication_cognition/srv/EvalSeq2Seq.srv
diff --git a/cognition/srv/FindInstances.srv b/roboy_communication_cognition/srv/FindInstances.srv
similarity index 100%
rename from cognition/srv/FindInstances.srv
rename to roboy_communication_cognition/srv/FindInstances.srv
diff --git a/cognition/srv/GenerateAnswer.srv b/roboy_communication_cognition/srv/GenerateAnswer.srv
similarity index 100%
rename from cognition/srv/GenerateAnswer.srv
rename to roboy_communication_cognition/srv/GenerateAnswer.srv
diff --git a/cognition/srv/GetObject.srv b/roboy_communication_cognition/srv/GetObject.srv
similarity index 100%
rename from cognition/srv/GetObject.srv
rename to roboy_communication_cognition/srv/GetObject.srv
diff --git a/cognition/srv/RecognizeObject.srv b/roboy_communication_cognition/srv/RecognizeObject.srv
similarity index 100%
rename from cognition/srv/RecognizeObject.srv
rename to roboy_communication_cognition/srv/RecognizeObject.srv
diff --git a/cognition/srv/RecognizeSpeech.srv b/roboy_communication_cognition/srv/RecognizeSpeech.srv
similarity index 100%
rename from cognition/srv/RecognizeSpeech.srv
rename to roboy_communication_cognition/srv/RecognizeSpeech.srv
diff --git a/cognition/srv/SaveObject.srv b/roboy_communication_cognition/srv/SaveObject.srv
similarity index 100%
rename from cognition/srv/SaveObject.srv
rename to roboy_communication_cognition/srv/SaveObject.srv
diff --git a/cognition/srv/ShowInstances.srv b/roboy_communication_cognition/srv/ShowInstances.srv
similarity index 100%
rename from cognition/srv/ShowInstances.srv
rename to roboy_communication_cognition/srv/ShowInstances.srv
diff --git a/cognition/srv/ShowProperty.srv b/roboy_communication_cognition/srv/ShowProperty.srv
similarity index 100%
rename from cognition/srv/ShowProperty.srv
rename to roboy_communication_cognition/srv/ShowProperty.srv
diff --git a/cognition/srv/ShowPropertyValue.srv b/roboy_communication_cognition/srv/ShowPropertyValue.srv
similarity index 100%
rename from cognition/srv/ShowPropertyValue.srv
rename to roboy_communication_cognition/srv/ShowPropertyValue.srv
diff --git a/cognition/srv/Talk.srv b/roboy_communication_cognition/srv/Talk.srv
similarity index 100%
rename from cognition/srv/Talk.srv
rename to roboy_communication_cognition/srv/Talk.srv
diff --git a/cognition/srv/TrainSeq2Seq.srv b/roboy_communication_cognition/srv/TrainSeq2Seq.srv
similarity index 100%
rename from cognition/srv/TrainSeq2Seq.srv
rename to roboy_communication_cognition/srv/TrainSeq2Seq.srv
diff --git a/control/CMakeLists.txt b/roboy_communication_control/CMakeLists.txt
similarity index 100%
rename from control/CMakeLists.txt
rename to roboy_communication_control/CMakeLists.txt
diff --git a/control/msg/Emotion.msg b/roboy_communication_control/msg/Emotion.msg
similarity index 100%
rename from control/msg/Emotion.msg
rename to roboy_communication_control/msg/Emotion.msg
diff --git a/control/package.xml b/roboy_communication_control/package.xml
similarity index 100%
rename from control/package.xml
rename to roboy_communication_control/package.xml
diff --git a/control/srv/MoveYaw.srv b/roboy_communication_control/srv/MoveYaw.srv
similarity index 100%
rename from control/srv/MoveYaw.srv
rename to roboy_communication_control/srv/MoveYaw.srv
diff --git a/control/srv/PerformMovement.srv b/roboy_communication_control/srv/PerformMovement.srv
similarity index 100%
rename from control/srv/PerformMovement.srv
rename to roboy_communication_control/srv/PerformMovement.srv
diff --git a/control/srv/ShowEmotion.srv b/roboy_communication_control/srv/ShowEmotion.srv
similarity index 100%
rename from control/srv/ShowEmotion.srv
rename to roboy_communication_control/srv/ShowEmotion.srv