As a part of the RIO project that wants to broadcast the usage of ROS into the industry, I am working at releasing 10 years of developed software for humanoid robot and the TIAGO robot into ROS. This work has been started and aborted in the past because the technology and the market expectation were not ready. My internship will then help the Robot community to use those advancement made by the laboratory especially RIO training that want to create a ROS training platform. I will also have to create a tutorial for future maintenance and new packages releases to help the laboratory staff gain time and maintain my work even with the standard evolution.