diff --git a/ros2/Dockerfile b/ros2/Dockerfile
index 36bb8f06c..34552220a 100644
--- a/ros2/Dockerfile
+++ b/ros2/Dockerfile
@@ -9,7 +9,6 @@ RUN apt update && apt upgrade -y
 RUN apt install -y \
     cmake \
     curl \
-    ros-humble-imu-tools \
     iputils-ping\
     libglu1-mesa-dev \
     nano \
@@ -18,6 +17,8 @@ RUN apt install -y \
     python3-tf2-ros \
     python3-tf-conversions \
     ros-dev-tools \
+    ros-humble-robot-localization \
+    ros-humble-imu-tools \
     ruby-dev \
     rviz \
     tmux \
diff --git a/ros/docker/sensor_fusion/.gitignore b/ros2/sensor_fusion/.gitignore
similarity index 100%
rename from ros/docker/sensor_fusion/.gitignore
rename to ros2/sensor_fusion/.gitignore
diff --git a/ros/docker/sensor_fusion/setup.md b/ros2/sensor_fusion/setup.md
similarity index 100%
rename from ros/docker/sensor_fusion/setup.md
rename to ros2/sensor_fusion/setup.md
diff --git a/ros/docker/sensor_fusion/src/move/LICENSE b/ros2/sensor_fusion/src/move/LICENSE
similarity index 100%
rename from ros/docker/sensor_fusion/src/move/LICENSE
rename to ros2/sensor_fusion/src/move/LICENSE
diff --git a/ros/docker/sensor_fusion/src/move/launch/ekf.launch.py b/ros2/sensor_fusion/src/move/launch/ekf.launch.py
similarity index 100%
rename from ros/docker/sensor_fusion/src/move/launch/ekf.launch.py
rename to ros2/sensor_fusion/src/move/launch/ekf.launch.py
diff --git a/ros/docker/sensor_fusion/src/move/move/__init__.py b/ros2/sensor_fusion/src/move/move/__init__.py
similarity index 100%
rename from ros/docker/sensor_fusion/src/move/move/__init__.py
rename to ros2/sensor_fusion/src/move/move/__init__.py
diff --git a/ros/docker/sensor_fusion/src/move/move/drive.py b/ros2/sensor_fusion/src/move/move/drive.py
similarity index 100%
rename from ros/docker/sensor_fusion/src/move/move/drive.py
rename to ros2/sensor_fusion/src/move/move/drive.py
diff --git a/ros/docker/sensor_fusion/src/move/package.xml b/ros2/sensor_fusion/src/move/package.xml
similarity index 100%
rename from ros/docker/sensor_fusion/src/move/package.xml
rename to ros2/sensor_fusion/src/move/package.xml
diff --git a/ros/docker/sensor_fusion/src/move/params/ekf.yaml b/ros2/sensor_fusion/src/move/params/ekf.yaml
similarity index 100%
rename from ros/docker/sensor_fusion/src/move/params/ekf.yaml
rename to ros2/sensor_fusion/src/move/params/ekf.yaml
diff --git a/ros/docker/sensor_fusion/src/move/resource/move b/ros2/sensor_fusion/src/move/resource/move
similarity index 100%
rename from ros/docker/sensor_fusion/src/move/resource/move
rename to ros2/sensor_fusion/src/move/resource/move
diff --git a/ros/docker/sensor_fusion/src/move/setup.cfg b/ros2/sensor_fusion/src/move/setup.cfg
similarity index 100%
rename from ros/docker/sensor_fusion/src/move/setup.cfg
rename to ros2/sensor_fusion/src/move/setup.cfg
diff --git a/ros/docker/sensor_fusion/src/move/setup.py b/ros2/sensor_fusion/src/move/setup.py
similarity index 100%
rename from ros/docker/sensor_fusion/src/move/setup.py
rename to ros2/sensor_fusion/src/move/setup.py
diff --git a/ros/docker/sensor_fusion/src/move/test/test_copyright.py b/ros2/sensor_fusion/src/move/test/test_copyright.py
similarity index 100%
rename from ros/docker/sensor_fusion/src/move/test/test_copyright.py
rename to ros2/sensor_fusion/src/move/test/test_copyright.py
diff --git a/ros/docker/sensor_fusion/src/move/test/test_flake8.py b/ros2/sensor_fusion/src/move/test/test_flake8.py
similarity index 100%
rename from ros/docker/sensor_fusion/src/move/test/test_flake8.py
rename to ros2/sensor_fusion/src/move/test/test_flake8.py
diff --git a/ros/docker/sensor_fusion/src/move/test/test_pep257.py b/ros2/sensor_fusion/src/move/test/test_pep257.py
similarity index 100%
rename from ros/docker/sensor_fusion/src/move/test/test_pep257.py
rename to ros2/sensor_fusion/src/move/test/test_pep257.py