diff --git a/.gitignore b/.gitignore
index 16b14f2..b76c8ea 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,7 +1,7 @@
-tb3_agent/.env
+turtlebo3_agent/.env
 __pycache__/
-tb3_agent/tools/navigation_tools.py
-tb3_agent/tools/api_tools.py
+turtlebo3_agent/tools/navigation_tools.py
+turtlebo3_agent/tools/api_tools.py
 
 devel/
 logs/
diff --git a/launch/tb3_agent.launch.py b/launch/tb3_agent.launch.py
index 69f5a22..873e506 100755
--- a/launch/tb3_agent.launch.py
+++ b/launch/tb3_agent.launch.py
@@ -19,7 +19,7 @@ def generate_launch_description():
     )
 
     ekf_config_file_path = os.path.join(
-        get_package_share_directory("tb3_agent"), "config", "ekf_turtlebot3.yaml"
+        get_package_share_directory("turtlebot3_agent"), "config", "ekf_turtlebot3.yaml"
     )
 
     ekf_node = Node(
diff --git a/package.xml b/package.xml
index 1cf432b..70dc4da 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?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>tb3_agent</name>
+  <name>turtlebot3_agent</name>
   <version>0.0.0</version>
   <description>
     A ROS2 package that integrates a TurtleBot3 with LangChain and language models
diff --git a/resource/tb3_agent b/resource/turtlebot3_agent
similarity index 100%
rename from resource/tb3_agent
rename to resource/turtlebot3_agent
diff --git a/setup.cfg b/setup.cfg
index f4a5d08..90945db 100644
--- a/setup.cfg
+++ b/setup.cfg
@@ -1,4 +1,4 @@
 [develop]
-script_dir=$base/lib/tb3_agent
+script_dir=$base/lib/turtlebot3_agent
 [install]
-install_scripts=$base/lib/tb3_agent
+install_scripts=$base/lib/turtlebot3_agent
diff --git a/setup.py b/setup.py
index 342c87b..617b887 100644
--- a/setup.py
+++ b/setup.py
@@ -3,7 +3,7 @@
 
 from setuptools import find_packages, setup
 
-package_name = "tb3_agent"
+package_name = "turtlebot3_agent"
 
 setup(
     name=package_name,
@@ -28,8 +28,8 @@
     tests_require=["pytest"],
     entry_points={
         "console_scripts": [
-            "tb3_node_entrypoint = tb3_agent.tb3_node_entrypoint:main",
-            "main = tb3_agent.main:main",
+            "tb3_node_entrypoint = turtlebot3_agent.tb3_node_entrypoint:main",
+            "main = turtlebot3_agent.main:main",
         ],
     },
 )
diff --git a/tb3_agent.repos b/tb3_agent.repos
index 5a8704d..ce70db0 100644
--- a/tb3_agent.repos
+++ b/tb3_agent.repos
@@ -2,16 +2,12 @@ repositories:
   turtlebot3_simulations:
     type: git
     url: https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git
-    version: humble-devel
+    version: humble
   turtlebot3_msgs:
     type: git
     url: https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
-    version: humble-devel
+    version: humble
   turtlebot3:
     type: git
     url: https://github.com/ROBOTIS-GIT/turtlebot3.git
-    version: humble-devel
-  robot_localization:
-    type: git
-    url: https://github.com/cra-ros-pkg/robot_localization.git
     version: humble-devel
\ No newline at end of file
diff --git a/tb3_agent/__init__.py b/turtlebot3_agent/__init__.py
similarity index 100%
rename from tb3_agent/__init__.py
rename to turtlebot3_agent/__init__.py
diff --git a/tb3_agent/chat_entrypoint.py b/turtlebot3_agent/chat_entrypoint.py
similarity index 92%
rename from tb3_agent/chat_entrypoint.py
rename to turtlebot3_agent/chat_entrypoint.py
index b3a535b..a3a0eda 100644
--- a/tb3_agent/chat_entrypoint.py
+++ b/turtlebot3_agent/chat_entrypoint.py
@@ -6,8 +6,8 @@
 from langchain.agents import AgentExecutor
 from rclpy.node import Node
 
-from tb3_agent.interface.chat_gui import ChatUI
-from tb3_agent.interface.gui_interface import GUIAgentInterface
+from turtlebot3_agent.interface.chat_gui import ChatUI
+from turtlebot3_agent.interface.gui_interface import GUIAgentInterface
 
 
 def chat_invoke(
diff --git a/tb3_agent/interface/__init__.py b/turtlebot3_agent/interface/__init__.py
similarity index 100%
rename from tb3_agent/interface/__init__.py
rename to turtlebot3_agent/interface/__init__.py
diff --git a/tb3_agent/interface/base_interface.py b/turtlebot3_agent/interface/base_interface.py
similarity index 100%
rename from tb3_agent/interface/base_interface.py
rename to turtlebot3_agent/interface/base_interface.py
diff --git a/tb3_agent/interface/chat_gui.py b/turtlebot3_agent/interface/chat_gui.py
similarity index 97%
rename from tb3_agent/interface/chat_gui.py
rename to turtlebot3_agent/interface/chat_gui.py
index 16cd936..15b7110 100644
--- a/tb3_agent/interface/chat_gui.py
+++ b/turtlebot3_agent/interface/chat_gui.py
@@ -3,7 +3,7 @@
 import tkinter as tk
 from tkinter import scrolledtext
 
-from tb3_agent.interface.gui_interface import GUIAgentInterface
+from turtlebot3_agent.interface.gui_interface import GUIAgentInterface
 
 
 class ChatUI:
diff --git a/tb3_agent/interface/gui_interface.py b/turtlebot3_agent/interface/gui_interface.py
similarity index 86%
rename from tb3_agent/interface/gui_interface.py
rename to turtlebot3_agent/interface/gui_interface.py
index 3801f13..fe1d7ef 100644
--- a/tb3_agent/interface/gui_interface.py
+++ b/turtlebot3_agent/interface/gui_interface.py
@@ -1,4 +1,4 @@
-from tb3_agent.interface.base_interface import BaseAgentInterface
+from turtlebot3_agent.interface.base_interface import BaseAgentInterface
 
 
 class GUIAgentInterface(BaseAgentInterface):
diff --git a/tb3_agent/llms.py b/turtlebot3_agent/llms.py
similarity index 99%
rename from tb3_agent/llms.py
rename to turtlebot3_agent/llms.py
index d634956..77318db 100644
--- a/tb3_agent/llms.py
+++ b/turtlebot3_agent/llms.py
@@ -8,7 +8,8 @@
 from langchain_mistralai import ChatMistralAI
 from langchain_ollama import ChatOllama
 from langchain_openai import ChatOpenAI
-from turtlesim_agent.prompts import prompt
+
+from turtlebot3_agent.prompts import prompt
 
 URL = os.getenv("URL")
 
diff --git a/tb3_agent/main.py b/turtlebot3_agent/main.py
similarity index 88%
rename from tb3_agent/main.py
rename to turtlebot3_agent/main.py
index 14867db..940cd18 100755
--- a/tb3_agent/main.py
+++ b/turtlebot3_agent/main.py
@@ -12,10 +12,10 @@
 from langchain.agents import AgentExecutor
 from rclpy.executors import ExternalShutdownException, SingleThreadedExecutor
 
-from tb3_agent.chat_entrypoint import chat_invoke
-from tb3_agent.llms import create_agent
-from tb3_agent.tb3_node import TB3Agent
-from tb3_agent.tools.all_tools import make_all_tools
+from turtlebot3_agent.chat_entrypoint import chat_invoke
+from turtlebot3_agent.llms import create_agent
+from turtlebot3_agent.tb3_node import TB3Agent
+from turtlebot3_agent.tools.all_tools import make_all_tools
 
 load_dotenv()
 
diff --git a/tb3_agent/prompts.py b/turtlebot3_agent/prompts.py
similarity index 100%
rename from tb3_agent/prompts.py
rename to turtlebot3_agent/prompts.py
diff --git a/tb3_agent/tb3_node.py b/turtlebot3_agent/tb3_node.py
similarity index 98%
rename from tb3_agent/tb3_node.py
rename to turtlebot3_agent/tb3_node.py
index 170c06f..8827e82 100755
--- a/tb3_agent/tb3_node.py
+++ b/turtlebot3_agent/tb3_node.py
@@ -17,7 +17,7 @@
 from sensor_msgs.msg import Image, LaserScan
 from transforms3d.euler import quat2euler
 
-from tb3_agent.utils import normalize_angle
+from turtlebot3_agent.utils import normalize_angle
 
 TWIST_ANGULAR = 0.30
 TWIST_VELOCITY = 0.21
@@ -33,7 +33,7 @@
 class TB3Agent(Node):
     def __init__(self):
         """Initialize the TB3Agent node with publishers and subscribers."""
-        super().__init__("tb3_agent")
+        super().__init__("turtlebot3_agent")
         self.declare_parameter("interface", "cli")
         self.declare_parameter("agent_model", "gemini-2.0-flash")
 
diff --git a/tb3_agent/tb3_node_entrypoint.py b/turtlebot3_agent/tb3_node_entrypoint.py
similarity index 80%
rename from tb3_agent/tb3_node_entrypoint.py
rename to turtlebot3_agent/tb3_node_entrypoint.py
index 7892329..ca6caac 100644
--- a/tb3_agent/tb3_node_entrypoint.py
+++ b/turtlebot3_agent/tb3_node_entrypoint.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 import rclpy
 
-from tb3_agent.tb3_node import TB3Agent
+from turtlebot3_agent.tb3_node import TB3Agent
 
 
 def main():
diff --git a/tb3_agent/tools/__init__.py b/turtlebot3_agent/tools/__init__.py
similarity index 100%
rename from tb3_agent/tools/__init__.py
rename to turtlebot3_agent/tools/__init__.py
diff --git a/tb3_agent/tools/all_tools.py b/turtlebot3_agent/tools/all_tools.py
similarity index 74%
rename from tb3_agent/tools/all_tools.py
rename to turtlebot3_agent/tools/all_tools.py
index c6a53da..d214aeb 100644
--- a/tb3_agent/tools/all_tools.py
+++ b/turtlebot3_agent/tools/all_tools.py
@@ -1,5 +1,5 @@
-# from tb3_agent.tools.api_tools import get_information_from_internet
-from tb3_agent.tools.math_tools import (
+# from turtlebot3_agent.tools.api_tools import get_information_from_internet
+from turtlebot3_agent.tools.math_tools import (
     calculate_absolute_angle,
     calculate_distance_and_relative_angle,
     calculate_euclidean_distance,
@@ -7,18 +7,18 @@
     calculate_relative_angle_from_yaw,
     degrees_to_radians,
 )
-from tb3_agent.tools.motion_tools import (
+from turtlebot3_agent.tools.motion_tools import (
     make_move_linear_tool,
     make_move_non_linear_tool,
     make_rotate_tool,
 )
 
-# from tb3_agent.tools.navigation_tools import make_navigate_to_goal_tool
-from tb3_agent.tools.sensor_tools import (
+# from turtlebot3_agent.tools.navigation_tools import make_navigate_to_goal_tool
+from turtlebot3_agent.tools.sensor_tools import (
     make_get_lidar_scan_tool,
     make_start_camera_display_tool,
 )
-from tb3_agent.tools.status_tools import make_get_turtle_pose_tool
+from turtlebot3_agent.tools.status_tools import make_get_turtle_pose_tool
 
 
 def make_all_tools(node) -> list:
diff --git a/tb3_agent/tools/math_tools.py b/turtlebot3_agent/tools/math_tools.py
similarity index 99%
rename from tb3_agent/tools/math_tools.py
rename to turtlebot3_agent/tools/math_tools.py
index baf836c..4bfc344 100644
--- a/tb3_agent/tools/math_tools.py
+++ b/turtlebot3_agent/tools/math_tools.py
@@ -3,7 +3,7 @@
 
 from langchain.tools import tool
 
-from tb3_agent.utils import normalize_angle
+from turtlebot3_agent.utils import normalize_angle
 
 
 @tool
diff --git a/tb3_agent/tools/motion_tools.py b/turtlebot3_agent/tools/motion_tools.py
similarity index 100%
rename from tb3_agent/tools/motion_tools.py
rename to turtlebot3_agent/tools/motion_tools.py
diff --git a/tb3_agent/tools/sensor_tools.py b/turtlebot3_agent/tools/sensor_tools.py
similarity index 100%
rename from tb3_agent/tools/sensor_tools.py
rename to turtlebot3_agent/tools/sensor_tools.py
diff --git a/tb3_agent/tools/status_tools.py b/turtlebot3_agent/tools/status_tools.py
similarity index 100%
rename from tb3_agent/tools/status_tools.py
rename to turtlebot3_agent/tools/status_tools.py
diff --git a/tb3_agent/utils.py b/turtlebot3_agent/utils.py
similarity index 100%
rename from tb3_agent/utils.py
rename to turtlebot3_agent/utils.py