diff --git a/README.md b/README.md
index 8d399d94..938849d9 100644
--- a/README.md
+++ b/README.md
@@ -68,13 +68,7 @@ Available in [ROS_API.md](./ROS_API.md)
 2. Install dependencies:
 
     ``` bash
-    vcs import src < src/rosbot_ros/rosbot/rosbot_$HUSARION_ROS_BUILD_TYPE.repos
-    cp -r src/ros2_controllers/imu_sensor_broadcaster src
-    rm -rf src/ros2_controllers
-
-    sudo rosdep init
-    rosdep update --rosdistro $ROS_DISTRO
-    rosdep install --from-paths src -y -i
+    ./src/rosbot_ros/rosbot/install_dependencies.sh
     ```
 
 3. Build:
diff --git a/docker/Dockerfile b/docker/Dockerfile
index 08b2cd6d..fbee90cb 100644
--- a/docker/Dockerfile
+++ b/docker/Dockerfile
@@ -17,14 +17,7 @@ RUN apt-get update && apt-get install -y \
         stm32flash \
         ros-${ROS_DISTRO}-teleop-twist-keyboard && \
     # Setup workspace
-    vcs import src < src/rosbot_ros/rosbot/rosbot_$HUSARION_ROS_BUILD_TYPE.repos && \
-    cp -r src/ros2_controllers/imu_sensor_broadcaster src && \
-    rm -rf src/ros2_controllers && \
-    # Install dependencies
-    rosdep init && \
-    rosdep update --rosdistro $ROS_DISTRO && \
-    rosdep install --from-paths src -y -i && \
-    # Build
+    ./src/rosbot_ros/rosbot/install_dependencies.sh && \
     source /opt/ros/$ROS_DISTRO/setup.bash && \
     colcon build --symlink-install --packages-up-to rosbot --cmake-args -DCMAKE_BUILD_TYPE=Release && \
     # Get version
diff --git a/rosbot/install_dependencies.sh b/rosbot/install_dependencies.sh
new file mode 100755
index 00000000..3f364c12
--- /dev/null
+++ b/rosbot/install_dependencies.sh
@@ -0,0 +1,34 @@
+#!/bin/bash
+
+# Check if env HUSARION_ROS_BUILD_TYPE is set
+if [ -z "$HUSARION_ROS_BUILD_TYPE" ]; then
+  echo "HUSARION_ROS_BUILD_TYPE is not set. Please set it to 'hardware' or 'simulation'"
+  exit 1
+fi
+
+# Define a function to run commands with or without sudo
+run_with_sudo() {
+  if [ "$(id -u)" -ne 0 ]; then
+    sudo "$@"
+  else
+    "$@"
+  fi
+}
+
+# Install tools
+run_with_sudo apt-get update
+run_with_sudo apt-get install -y python3-pip ros-dev-tools stm32flash
+
+# Import repositories
+vcs import src < src/rosbot_ros/rosbot/rosbot_$HUSARION_ROS_BUILD_TYPE.repos
+if [ "$HUSARION_ROS_BUILD_TYPE" == "simulation" ]; then
+    cp -r src/ros2_controllers/imu_sensor_broadcaster src
+    rm -rf src/ros2_controllers
+fi
+
+# Install dependencies
+if ! [ -d /etc/ros/rosdep ]; then
+  run_with_sudo rosdep init
+fi
+rosdep update --rosdistro $ROS_DISTRO
+rosdep install --from-paths src -y -i
diff --git a/rosbot/rosbot_hardware.repos b/rosbot/rosbot_hardware.repos
index 8b7459b1..fe402a5f 100644
--- a/rosbot/rosbot_hardware.repos
+++ b/rosbot/rosbot_hardware.repos
@@ -19,7 +19,3 @@ repositories:
     type: git
     url: https://github.com/husarion/rosbot_hardware_interfaces.git
     version: da1805839aaa21b8341a9c39498c96d9a1a4f87d
-  ros2_controllers: # Bug: There is no nice way to change `sensor_name` imu_bradcaster param when spawning multiple robots -> ros2_control refer only to single imu entity
-    type: git
-    url: https://github.com/husarion/ros2_controllers/
-    version: 9da42a07a83bbf3faf5cad11793fff22f25068af
diff --git a/rosbot_controller/package.xml b/rosbot_controller/package.xml
index 31f93620..a0e82f6c 100644
--- a/rosbot_controller/package.xml
+++ b/rosbot_controller/package.xml
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>rosbot_gazebo</name>
+  <name>rosbot_controller</name>
   <version>0.13.2</version>
-  <description>Gazebo Ignition simulation for ROSbot 2, 2R, PRO</description>
+  <description>Hardware configuration for ROSbot 2, 2R, PRO</description>
 
   <maintainer email="support@husarion.com">Husarion</maintainer>
 
@@ -13,27 +13,37 @@
   <url type="repository">https://github.com/husarion/rosbot_ros</url>
   <url type="bugtracker">https://github.com/husarion/rosbot_ros/issues</url>
 
-  <author email="krzysztof.wojciechowski@husarion.com">Krzysztof Wojciechowski</author>
   <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
-  <author email="rafal.gorecki@husarion.com">Rafal Gorecki</author>
-
-  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">rosbot_bringup</exec_depend>
-  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch</exec_depend>
-  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch_ros</exec_depend>
-  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">husarion_gz_worlds</exec_depend>
-  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ros_gz_sim</exec_depend>
-  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ros_gz_bridge</exec_depend>
-  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ign_ros2_control</exec_depend>
-  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">nav2_common</exec_depend>
-
-  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">python3-pytest</test_depend>
-  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch</test_depend>
-  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch_ros</test_depend>
-  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch_pytest</test_depend>
-  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">tf_transformations</test_depend>
-  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">python-transforms3d-pip</test_depend>
-  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">nav_msgs</test_depend>
-  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">geometry_msgs</test_depend>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rosbot_description</exec_depend>
+  <exec_depend>ros_components_description</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == hardware)">rosbot_hardware_interfaces</exec_depend>
+  <exec_depend>joint_state_broadcaster</exec_depend>
+  <exec_depend>imu_sensor_broadcaster</exec_depend>
+  <exec_depend>diff_drive_controller</exec_depend>
+  <exec_depend>mecanum_drive_controller</exec_depend>
+
+  <test_depend>python3-pytest</test_depend>
+  <test_depend>launch</test_depend>
+  <test_depend>launch_ros</test_depend>
+  <test_depend>launch_pytest</test_depend>
+  <test_depend>xacro</test_depend>
+  <test_depend>sensor_msgs</test_depend>
+  <test_depend>nav_msgs</test_depend>
+  <test_depend>rosbot_description</test_depend>
+  <test_depend>ros_components_description</test_depend>
+  <test_depend>controller_manager</test_depend>
+  <test_depend>joint_state_broadcaster</test_depend>
+  <test_depend>imu_sensor_broadcaster</test_depend>
+  <test_depend>diff_drive_controller</test_depend>
+  <test_depend>mecanum_drive_controller</test_depend>
 
   <export>
     <build_type>ament_python</build_type>
diff --git a/rosbot_gazebo/package.xml b/rosbot_gazebo/package.xml
index 5c7a01a9..31f93620 100644
--- a/rosbot_gazebo/package.xml
+++ b/rosbot_gazebo/package.xml
@@ -17,29 +17,23 @@
   <author email="jakub.delicat@husarion.com">Jakub Delicat</author>
   <author email="rafal.gorecki@husarion.com">Rafal Gorecki</author>
 
-  <exec_depend>rosbot_bringup</exec_depend>
-
-  <exec_depend>launch</exec_depend>
-  <exec_depend>launch_ros</exec_depend>
-
-  <exec_depend>husarion_gz_worlds</exec_depend>
-  <exec_depend>ros_gz_sim</exec_depend>
-  <!-- Ignition dependency is specified in the ros_gz_sim package,
-    version can chosen using GZ_VERSION (or IGNITION_VERSION) env variable,
-    for details refer to the ros_gz_sim package -->
-  <exec_depend>ros_gz_bridge</exec_depend>
-  <exec_depend>ign_ros2_control</exec_depend>
-  <exec_depend>nav2_common</exec_depend>
-
-  <test_depend>python3-pytest</test_depend>
-  <test_depend>launch</test_depend>
-  <test_depend>launch_ros</test_depend>
-  <test_depend>launch_pytest</test_depend>
-
-  <test_depend>tf_transformations</test_depend>
-  <test_depend>python-transforms3d-pip</test_depend>
-  <test_depend>nav_msgs</test_depend>
-  <test_depend>geometry_msgs</test_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">rosbot_bringup</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch_ros</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">husarion_gz_worlds</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ros_gz_sim</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ros_gz_bridge</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">ign_ros2_control</exec_depend>
+  <exec_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">nav2_common</exec_depend>
+
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">python3-pytest</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch_ros</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">launch_pytest</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">tf_transformations</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">python-transforms3d-pip</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">nav_msgs</test_depend>
+  <test_depend condition="($HUSARION_ROS_BUILD_TYPE == simulation)">geometry_msgs</test_depend>
 
   <export>
     <build_type>ament_python</build_type>