diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..1feef21
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,143 @@
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+env/
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+*.egg-info/
+.installed.cfg
+*.egg
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*,cover
+.hypothesis/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# IPython Notebook
+.ipynb_checkpoints
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# dotenv
+.env
+
+# virtualenv
+venv/
+ENV/
+
+# Spyder project settings
+.spyderproject
+
+# Rope project settings
+.ropeproject
+
+# Those goddamn temp files
+*~
+
+# Those goddamn IDE guys use vim please 
+.idea/
+
+build/
+bin/
+lib/
+msg_gen/
+srv_gen/
+msg/*Action.msg
+msg/*ActionFeedback.msg
+msg/*ActionGoal.msg
+msg/*ActionResult.msg
+msg/*Feedback.msg
+msg/*Goal.msg
+msg/*Result.msg
+msg/_*.py
+
+# Generated by dynamic reconfigure
+*.cfgc
+/cfg/cpp/
+/cfg/*.py
+
+# Ignore generated docs
+*.dox
+*.wikidoc
+
+# eclipse stuff
+.project
+.cproject
+
+# qcreator stuff
+CMakeLists.txt.user
+
+srv/_*.py
+*.pcd
+*.pyc
+qtcreator-*
+*.user
+
+/planning/cfg
+/planning/docs
+/planning/src
+
+*~
+
+# Emacs
+.#*
+
+# Catkin custom files
+CATKIN_IGNORE
diff --git a/CHANGELOG.md b/CHANGELOG.md
new file mode 100644
index 0000000..73b57c6
--- /dev/null
+++ b/CHANGELOG.md
@@ -0,0 +1,21 @@
+# Change Log
+
+## [2.0.0](https://github.com/walkingmachine/sara_install/tree/2.0.0) (2016-10-28)
+**Closed issues:**
+
+- unknown command [\#7](https://github.com/WalkingMachine/sara_install/issues/7)
+
+**Merged pull requests:**
+
+- Hotfix pour la que rosinstall fonctionne sur la branch develop [\#15](https://github.com/WalkingMachine/sara_install/pull/15) ([gortium](https://github.com/gortium))
+- creation dune branche a place dun simple pull request [\#13](https://github.com/WalkingMachine/sara_install/pull/13) ([salco](https://github.com/salco))
+- \[DONE\]Feature submodule [\#11](https://github.com/WalkingMachine/sara_install/pull/11) ([gortium](https://github.com/gortium))
+- \[DONE\]Feature multiple repo [\#10](https://github.com/WalkingMachine/sara_install/pull/10) ([gortium](https://github.com/gortium))
+- Update README.md to clean it up [\#6](https://github.com/WalkingMachine/sara_install/pull/6) ([gregoirefra](https://github.com/gregoirefra))
+- Update sara\_installer.bash [\#5](https://github.com/WalkingMachine/sara_install/pull/5) ([gregoirefra](https://github.com/gregoirefra))
+- Revert "Make some protection" [\#4](https://github.com/WalkingMachine/sara_install/pull/4) ([maximest-pierre](https://github.com/maximest-pierre))
+- Make some protection [\#2](https://github.com/WalkingMachine/sara_install/pull/2) ([salco](https://github.com/salco))
+
+
+
+\* *This Change Log was automatically generated by [github_changelog_generator](https://github.com/skywinder/Github-Changelog-Generator)*
\ No newline at end of file
diff --git a/rosinstall/sara_full.rosinstall b/rosinstall/sara_full.rosinstall
deleted file mode 100644
index c0d2547..0000000
--- a/rosinstall/sara_full.rosinstall
+++ /dev/null
@@ -1,12 +0,0 @@
-- git: {local-name: sara_simulation, uri: 'https://github.com/WalkingMachine/sara_simulation.git', version: master}
-- git: {local-name: sara_commun, uri: 'https://github.com/WalkingMachine/sara_commun.git', version: master}
-- git: {local-name: sara_robot, uri: 'https://github.com/WalkingMachine/sara_robot.git', version: master}
-- git: {local-name: sara_desktop, uri: 'https://github.com/WalkingMachine/sara_desktop.git', version: master}
-
-- git: {local-name: robotiq, uri: 'https://github.com/ros-industrial/robotiq.git', version: indigo-devel}
-
-- git: {local-name: cob_people_perception, uri: 'https://github.com/ipa320/cob_people_perception.git', version: indigo_dev}
-
-- git: {local-name: cob_perception_common, uri: 'https://github.com/ipa320/cob_perception_common.git', version: indigo_dev}
-
-- git: {local-name: kinova-ros, uri: 'https://github.com/Kinovarobotics/kinova-ros.git', version: master}
diff --git a/rosinstall/sara_robot.rosinstall b/rosinstall/sara_robot.rosinstall
index 93cca1e..e145f77 100644
--- a/rosinstall/sara_robot.rosinstall
+++ b/rosinstall/sara_robot.rosinstall
@@ -1,9 +1,2 @@
 - git: {local-name: sara_commun, uri: 'https://github.com/WalkingMachine/sara_commun.git', version: master}
 - git: {local-name: sara_robot, uri: 'https://github.com/WalkingMachine/sara_robot.git', version: master}
-
-- git: {local-name: robotiq, uri: 'https://github.com/ros-industrial/robotiq.git', version: indigo-devel}
-
-- git: {local-name: cob_people_perception, uri: 'https://github.com/ipa320/cob_people_perception.git', version: indigo_dev}
-
-- git: {local-name: kinova-ros, uri: 'https://github.com/Kinovarobotics/kinova-ros.git', version: master}
-
diff --git a/rosinstall/sara_simulation.rosinstall b/rosinstall/sara_simulation.rosinstall
index 43e3e0c..6d3555d 100644
--- a/rosinstall/sara_simulation.rosinstall
+++ b/rosinstall/sara_simulation.rosinstall
@@ -1,10 +1,4 @@
-- git: {local-name: sara_simultaion, uri: 'https://github.com/WalkingMachine/sara_simulation.git', version: master}
-- git: {local-name: sara_commun, uri: 'https://github.com/WalkingMachine/sara_commun.git', version: master}
+- git: {local-name: sara_simultaion, uri: 'https://github.com/WalkingMachine/sara_simulation.git', master}
+- git: {local-name: sara_commun, uri: 'https://github.com/WalkingMachine/sara_commun.git', version: ,master}
 - git: {local-name: sara_desktop, uri: 'https://github.com/WalkingMachine/sara_desktop.git', version: master}
 
-- git: {local-name: robotiq, uri: 'https://github.com/ros-industrial/robotiq.git', version: indigo-devel}
-
-- git: {local-name: cob_people_perception, uri: 'https://github.com/ipa320/cob_people_perception.git', version: indigo_dev}
-
-- git: {local-name: kinova-ros, uri: 'https://github.com/Kinovarobotics/kinova-ros.git', version: master}
-
diff --git a/script/sara_installer.bash b/script/sara_robot_installer.bash
similarity index 97%
rename from script/sara_installer.bash
rename to script/sara_robot_installer.bash
index 090fe72..39e9eb4 100755
--- a/script/sara_installer.bash
+++ b/script/sara_robot_installer.bash
@@ -55,7 +55,7 @@ echo "Creating Workspace"
 
 mkdir -p ~/sara_ws
 cd ~/sara_ws
-wstool init src ~/sara_install/rosinstall/sara_full.rosinstall
+wstool init src ~/sara_install/rosinstall/sara_robot.rosinstall
 wstool update -t src
 
 echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
diff --git a/script/sara_simulation_installer.bash b/script/sara_simulation_installer.bash
new file mode 100755
index 0000000..77cea70
--- /dev/null
+++ b/script/sara_simulation_installer.bash
@@ -0,0 +1,88 @@
+#!/bin/sh
+
+echo "S.A.R.A. Installation beginning"
+
+# Adding source and key
+echo "Adding source and key"
+
+sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
+sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 0xB01FA116
+
+# To get the latest package lists
+echo "Getting latest package lists and upgrading system"
+
+sudo apt update -y
+sudo apt upgrade -y
+
+# ROS installation
+echo "Installing ROS"
+
+sudo apt install -y ros-indigo-desktop-full -y
+
+# Install tools
+echo "Installing tools"
+
+sudo apt install git python-pip python-wstool -y
+
+# Package installation
+echo "Installing package"
+
+sudo apt install ros-indigo-openni2-launch ros-indigo-urg-node ros-indigo-xsens-driver \
+ros-indigo-joystick-drivers ros-indigo-navigation ros-indigo-pocketsphinx ros-indigo-rosserial \
+ros-indigo-roboteq-diagnostics ros-indigo-roboteq-msgs ros-indigo-smach \
+ros-indigo-rtabmap-ros ros-indigo-gazebo-ros ros-indigo-slam-gmapping ros-indigo-map-laser \
+ros-indigo-moveit-full ros-indigo-geographic-info \
+ros-indigo-zbar-ros ros-indigo-dynamixel-motor couchdb python-rosinstall libyaml-dev \
+ros-indigo-soem espeak ros-indigo-object-recognition-core  ros-indigo-object-recognition-renderer -y
+
+# Utility installation
+echo "Installing Utility"
+
+sudo apt install htop lm-sensors tig -y
+
+# Interface graphic couchapp
+echo "Installing graphic for couchapp"
+
+sudo pip install -U couchapp
+
+# pyttsx
+echo "Installing pyttsx"
+
+sudo pip install pyttsx
+
+# workspace creation
+echo "Creating Workspace"
+
+mkdir -p ~/sara_ws
+cd ~/sara_ws
+wstool init src ~/sara_install/rosinstall/sara_simulation.rosinstall
+wstool update -t src
+
+echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc
+source ~/.bashrc
+
+# rosdep
+echo "ros dep"
+
+sudo rosdep init
+rosdep update
+rosdep install --from-paths src --ignore-src --rosdistro indigo -y
+
+# catkin_make to build all the packages
+echo "Building packages"
+
+catkin_make -DCATKIN_WHITELIST_PACKAGES="wm_arm_msgs"
+
+catkin_make -DCATKIN_WHITELIST_PACKAGES="wm_arm_driver"
+
+catkin_make -DCATKIN_WHITELIST_PACKAGES=""
+
+catkin_make
+
+#enable database online viewer
+rosrun object_recognition_core push.sh
+
+echo "source ~/sara_ws/devel/setup.bash" >> ~/.bashrc
+
+echo "Continue with remote_setup.md"
+echo "Installation done go get a beer and code"