diff --git a/minibot_msgs/CMakeLists.txt b/minibot_msgs/CMakeLists.txt
index 0d7b8e0453fe5abe4a2e559aa471d5f85c49c9b8..58713b39391a270043e011f2e818d658212e3ff8 100644
--- a/minibot_msgs/CMakeLists.txt
+++ b/minibot_msgs/CMakeLists.txt
@@ -56,6 +56,7 @@ find_package(catkin REQUIRED COMPONENTS
 add_service_files(
   FILES
   set_url.srv
+  segment_sign_command.srv
 )
 
 ## Generate actions in the 'action' folder
diff --git a/minibot_msgs/srv/segment_sign_command.srv b/minibot_msgs/srv/segment_sign_command.srv
new file mode 100644
index 0000000000000000000000000000000000000000..5b53ebb7b109fa204518aea3b9acc41b3f788533
--- /dev/null
+++ b/minibot_msgs/srv/segment_sign_command.srv
@@ -0,0 +1,6 @@
+int8 PERSISTENT_SAVE=0
+int8 TOGGLE_PATCH_VISUALIZATION=1
+int8 LOAD_DEFAULT=2
+
+int8 command
+---
diff --git a/minibot_vision/CMakeLists.txt b/minibot_vision/CMakeLists.txt
index 0a11db6b97f7cedda962db17f52e1533d23fe398..27a755ba0191d4738fc048b5e3d2bcc89b55e70f 100644
--- a/minibot_vision/CMakeLists.txt
+++ b/minibot_vision/CMakeLists.txt
@@ -159,10 +159,11 @@ include_directories(
 
 ## Mark executable scripts (Python etc.) for installation
 ## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+catkin_install_python(PROGRAMS
+  scripts/SegmentSign.py
+  scripts/AdjustSegmentSign.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 ## Mark executables for installation
 ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
diff --git a/minibot_vision/README.md b/minibot_vision/README.md
index 6a9f33174909c1ba515961570dcc8a2ce8c48ce4..ac0f6187cdedaf488f23ee755fa66918898cd6f3 100644
--- a/minibot_vision/README.md
+++ b/minibot_vision/README.md
@@ -10,8 +10,21 @@ This node detects round objects (like traffic signs) in the rgb image of the rea
 The z value of the pose message is then the detected depth in the camera frame (x and y are not updated).
 The detected signs are cropped to patches and zoomed so that the patch width/height matches our tensorflow requirements.
 This segmentation depends on a some hyper parameters.
-Since it seems to be very robust with the current configuration these are set static in the python script.
-If you need to adjust them there are two different visualization modes for debugging implemented.
+Those are loaded based on the input of `config/sign_detector.yaml`.
+A tool to adjust them can be started by executing `ROS_NAMESPACE=/$ROBOT/; rosrun minibot_vision SegmentSign.py` and works with following hotkeys: 
+- p: Toggle patch visualization [default: True]
+- d: Load default parameters (specified within `config/sign_detector_default.yaml`). This will neither override `config/sign_detector.yaml` nor the ros-params.
+- s: Save the current parameters persistent to `config/sign_detector.yaml`. This will also upload to ros-param.
+
+## Guideline for optimal Sign Detection
+The hough transform used to pre-detect the signs works best if the actual traffic signs have the following conditions:
+- non reflecting signs (eg. paper)
+- signs should be surrounded by a clear circle that is at best not connected to the content within the sign (helps hough transform)
+- there should be some, at best indirect, light around the signs. The more indirect light the better the detection usually
+
+If there are still issues with the segmentation/detection check these points:
+- if the hough detection is bad, try to adjust the two hough parameters (see section **Segment Sign**)
+- the background of the signs is very important during classification
 
 ## Sign Detector
 This node starts the SegmentSign node together with a tensorflow classification.
diff --git a/minibot_vision/config/sign_detector.yaml b/minibot_vision/config/sign_detector.yaml
index 902315573c31deeb4dfde74677eae02f9930c747..e25bf9b45f3add9684204846fcc9ae8639b08be6 100644
--- a/minibot_vision/config/sign_detector.yaml
+++ b/minibot_vision/config/sign_detector.yaml
@@ -1,11 +1,11 @@
 sign_detector:
+  canny_param1: 144
+  canny_param2: 59
   img_height: 480
   img_width: 640
-  canny_param1: 100
-  canny_param2: 100 # good light: 40; bad light: 100
-  min_depth: 0.2
   max_depth: 1.0
-  visualize: False
-  zoom_threshold: 1.15
+  max_radius: 128
+  min_depth: 0.2
   min_radius: 15
-  max_radius: 128
\ No newline at end of file
+  visualize: false
+  zoom_threshold: 1.15
diff --git a/minibot_vision/config/sign_detector_default.yaml b/minibot_vision/config/sign_detector_default.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..1cd549cc9e028cb30aa1c0c64c9a508eece443ff
--- /dev/null
+++ b/minibot_vision/config/sign_detector_default.yaml
@@ -0,0 +1,12 @@
+# default params that got not overriden
+sign_detector:
+  img_height: 480
+  img_width: 640
+  canny_param1: 100
+  canny_param2: 100 # good light: 40; bad light: 100
+  min_depth: 0.2
+  max_depth: 1.0
+  visualize: False
+  zoom_threshold: 1.15
+  min_radius: 15
+  max_radius: 128
diff --git a/minibot_vision/scripts/AdjustSegmentSign.py b/minibot_vision/scripts/AdjustSegmentSign.py
new file mode 100644
index 0000000000000000000000000000000000000000..ccbb250d4464406aad41aa4bce20443cc13e0a26
--- /dev/null
+++ b/minibot_vision/scripts/AdjustSegmentSign.py
@@ -0,0 +1,122 @@
+#!/usr/bin/env python3
+
+"""
+This serves as a tool to adjust the hyperparameters used in SegmentSign.py
+"""
+
+import rospy
+import cv2
+from sensor_msgs.msg import CompressedImage
+import std_srvs.srv
+from minibot_msgs.srv import segment_sign_command, segment_sign_commandRequest, segment_sign_commandResponse
+from cv_bridge import CvBridge, CvBridgeError
+import numpy as np
+
+# *** GLOBALS ***
+bridge = CvBridge()
+img_rgb_stream = np.zeros((600, 800))
+canny = -1
+accum_thresh = -1
+
+
+def update_params_canny(d):
+    global canny
+
+    # upload new param to param server
+    rospy.set_param("/minibot/sign_detector/canny_param1", cv2.getTrackbarPos("Canny", "image"))
+
+
+def update_params_accum_thresh(d):
+    global accum_thresh
+
+    # upload new param to param server
+    rospy.set_param("/minibot/sign_detector/canny_param2", cv2.getTrackbarPos("Accum", "image") )
+
+
+def compressed_image_callback(ros_data):
+    global bridge, img_rgb_stream
+
+    try:
+        np_arr = np.fromstring(ros_data.data, np.uint8)
+        img_rgb_stream = cv2.imdecode(np_arr, cv2.IMREAD_COLOR)
+    except CvBridgeError as e:
+        print(e)
+
+
+def call_enable(is_enable):
+    service = "/minibot/hough_transform/enable"
+
+    #msg = std_srvs.srv.SetBool()
+    #msg.data = is_enable
+
+    try:
+        call_place = rospy.ServiceProxy(service, std_srvs.srv.SetBool())
+        response = call_place.call(is_enable)
+    except rospy.ServiceException as e:
+        print("Service call failed: %s" % e)
+
+
+def call_segment_sign_command(command):
+    # TODO make the namespace as parameter
+    service = "/minibot/hough_transform/command"
+
+    if command == 0:
+        command_msg = segment_sign_commandRequest(command=segment_sign_commandRequest.PERSISTENT_SAVE)
+    elif command == 1:
+        command_msg = segment_sign_commandRequest(command=segment_sign_commandRequest.TOGGLE_PATCH_VISUALIZATION)
+    elif command == 2:
+        command_msg = segment_sign_commandRequest(command=segment_sign_commandRequest.LOAD_DEFAULT)
+
+    try:
+        call_place = rospy.ServiceProxy(service, segment_sign_command)
+        response = call_place.call(command_msg)
+    except rospy.ServiceException as e:
+        print("Service call failed: %s" % e)
+
+
+if __name__=="__main__":
+    rospy.init_node("adjust_segment_sign")
+
+    # get hyperparams
+    canny = rospy.get_param("/minibot/sign_detector/canny_param1")
+    accum_thresh = rospy.get_param("/minibot/sign_detector/canny_param2")
+
+    # init cv2
+    cv2.namedWindow("image")
+    cv2.resizeWindow("image", 800, 600)
+    cv2.createTrackbar("Canny", "image", canny, 255, update_params_canny)
+    cv2.setTrackbarMin("Canny", "image", 1)
+    cv2.createTrackbar("Accum", "image", accum_thresh, 255, update_params_accum_thresh)
+    cv2.setTrackbarMin("Accum", "image", 1)
+
+    rospy.Subscriber("/minibot/hough_transform/result_image/compressed", CompressedImage, compressed_image_callback)
+
+    # enable visualization
+    call_enable(True)
+
+    rate = rospy.Rate(30)
+    while not rospy.is_shutdown():
+        cv2.imshow("image", img_rgb_stream)
+
+        canny = rospy.get_param("/minibot/sign_detector/canny_param1")  #100
+        accum_thresh = rospy.get_param("/minibot/sign_detector/canny_param2") #30
+        cv2.setTrackbarPos("Canny", "image", canny)
+        cv2.setTrackbarPos("Accum", "image", accum_thresh)
+
+        k = cv2.waitKey(1) & 0xFF
+        if k == ord("p"):
+            call_segment_sign_command(1)
+        if k == ord("d"):
+            call_segment_sign_command(2)
+        if k == ord("s"):
+            call_segment_sign_command(0)
+        if k == ord("q"):
+            break
+
+        rate.sleep()
+
+    # disable visualization
+    call_enable(False)
+
+    cv2.destroyAllWindows()
+
diff --git a/minibot_vision/scripts/Capture_Images.py b/minibot_vision/scripts/Capture_Images.py
old mode 100644
new mode 100755
diff --git a/minibot_vision/scripts/Crop_Sign_Depth.py b/minibot_vision/scripts/Crop_Sign_Depth.py
old mode 100644
new mode 100755
diff --git a/minibot_vision/scripts/SegmentSign.py b/minibot_vision/scripts/SegmentSign.py
index e1fbde3c780b9dafbaaeb9018fd91f63c1ebe0d1..c0991dab5ce1abb33904d6d6942bada12430f654 100644
--- a/minibot_vision/scripts/SegmentSign.py
+++ b/minibot_vision/scripts/SegmentSign.py
@@ -1,9 +1,15 @@
+#!/usr/bin/env python3
+
 import cv2
 import numpy as np
 from cv_bridge import CvBridge, CvBridgeError
-from sensor_msgs.msg import Image
+from sensor_msgs.msg import Image, CompressedImage
 import rospy
 from copy import copy
+import yaml
+import rospkg
+import std_srvs.srv
+from minibot_msgs.srv import segment_sign_command, segment_sign_commandRequest, segment_sign_commandResponse
 
 # *** hyper params ***
 #IMG_RES = (480, 640)
@@ -25,16 +31,15 @@ MAX_RADIUS = rospy.get_param("sign_detector/max_radius", 128)  # 128
 cv_bridge = CvBridge()
 img_rgb_stream = np.zeros((IMG_RES[0], IMG_RES[1], 3), np.uint8)
 img_depth_stream = np.zeros((IMG_RES[0], IMG_RES[1], 1), np.uint8)
+ros_pack = None
+segment_enable = False
+segment_rate = None
+toggle_patch_visualization = True
+bridge = CvBridge()
 
 def empty(d):
     pass
 
-if VISUALIZE:
-    cv2.namedWindow("Parameters")
-    cv2.resizeWindow("Parameters", 800, 600)
-    cv2.createTrackbar("Canny", "Parameters", canny, 255, empty)
-    cv2.createTrackbar("Accum", "Parameters", accum_thresh, 255, empty)
-
 
 def image_color_callback(data):
     global img_rgb_stream, cv_bridge
@@ -75,7 +80,7 @@ def circular_mean(p, r, arr : np.array):
     return sum_px_values / count_px
 
 
-def do_hough_circle_detection(img_rgb, img_depth):
+def do_hough_circle_detection(img_rgb, img_depth, VISUALIZE=False):
     global canny, accum_thresh
 
     gray = img_rgb
@@ -189,38 +194,140 @@ def filter_duplicate_keypoints(keypoints):
     return required_keypoints
 
 
+def save_params():
+    """
+    During VISUALIZE mode.
+    Saves the current configured parameter set permanently and in addition loads them to rosparam.
+    """
+    global canny, accum_thresh, ros_pack
+
+    # write to file
+    path = "{}/config/sign_detector.yaml".format(ros_pack.get_path("minibot_vision"))
+    with open(path, "r") as stream:
+        try:
+            data = yaml.safe_load(stream)
+        except yaml.YAMLError as exc:
+            print(exc)
+            return
+
+    with open(path, "w") as stream:
+        try:
+            data['sign_detector']['canny_param1'] = canny
+            data['sign_detector']['canny_param2'] = accum_thresh
+            yaml.safe_dump(data, stream)
+        except yaml.YAMLError as exc:
+            print(exc)
+            return
+
+    # save to rosparam
+    rospy.set_param("sign_detector/canny_param1", canny)
+    rospy.get_param("sign_detector/canny_param2", accum_thresh)
+
+    rospy.loginfo("({}) Saved new params persistent".format(rospy.get_name()))
+
+def load_default_params():
+    """
+    During VISUALIZE mode.
+    Loads the default params to the ui. These params are neither persistent saved nore loaded to rosparam.
+    """
+    global canny, accum_thresh, ros_pack
+
+    with open("{}/config/sign_detector_default.yaml".format(ros_pack.get_path("minibot_vision"))) as stream:
+        try:
+            data = yaml.safe_load(stream)
+        except yaml.YAMLError as exc:
+            print(exc)
+
+        canny = data['sign_detector']['canny_param1']
+        accum_thresh = data['sign_detector']['canny_param2']
+        #cv2.setTrackbarPos("Canny", "Parameters", canny)
+        #cv2.setTrackbarPos("Accum", "Parameters", accum_thresh)
+        rospy.set_param("sign_detector/canny_param1", canny)
+        rospy.set_param("sign_detector/canny_param2", accum_thresh)
+
+        rospy.loginfo("({}) Loaded default params".format(rospy.get_name()))
+
+
+def enable_callback(req):
+    global segment_enable, segment_rate
+
+    segment_enable = req.data
+    rospy.loginfo("({}) set enable to {}".format(rospy.get_name(), segment_enable))
+    # go in low power mode if the node is doing nothing
+    if segment_enable:
+        segment_rate = rospy.Rate(30)
+    else:
+        segment_rate = rospy.Rate(5)
+
+    return True, ""
+
+
+def command_callback(req):
+    """
+    Callback to remote control the visualization of the segment sign hyper param adjustment.
+    """
+    global toggle_patch_visualization
+
+    if req.command == segment_sign_commandRequest.PERSISTENT_SAVE:
+        rospy.loginfo("({}) save params persistent".format(rospy.get_name()))
+        save_params()
+    elif req.command == segment_sign_commandRequest.TOGGLE_PATCH_VISUALIZATION:
+        rospy.loginfo("({}) Toggle patch visualisation is {}".format(rospy.get_name(), toggle_patch_visualization))
+        toggle_patch_visualization = not toggle_patch_visualization
+    elif req.command == segment_sign_commandRequest.LOAD_DEFAULT:
+        rospy.loginfo("({}) load default params".format(rospy.get_name()))
+        load_default_params()
+    else:
+        rospy.logwarn("({}) command {} not known".format(rospy.get_name(), req.command))
+
+    return segment_sign_commandResponse()
+
+
+def publish_image(img, pub_cmpr_img):
+    global bridge
+
+    # use same timestamp for synchronisation
+    timestamp = rospy.Time.now()
+
+    # publish compressed img for website visualization
+    cmprsmsg = bridge.cv2_to_compressed_imgmsg(img)
+    cmprsmsg.header.stamp = timestamp
+    pub_cmpr_img.publish(cmprsmsg)
+
 
 if __name__=="__main__":
     rospy.init_node("hough_detection")
+    ros_pack = rospkg.RosPack()
+    ns = rospy.get_namespace()
+    segment_rate = rospy.Rate(5)
 
+    # TODO docu
 
-    ns = "/minibot/"#rospy.get_namespace()
-    VISUALIZE = True
+    # *** TOPICS
     img_color_topic = "{}camera/color/image_raw".format(ns)
     img_depth_topic = "{}camera/aligned_depth_to_color/image_raw".format(ns)
     rospy.Subscriber(img_color_topic, Image, image_color_callback)
     rospy.Subscriber(img_depth_topic, Image, image_depth_callback)
+    pub_cmpr_img = rospy.Publisher("~result_image/compressed", CompressedImage, queue_size=10)
+
+    # *** SERVICES
+    rospy.Service("~enable", std_srvs.srv.SetBool, enable_callback)
+    rospy.Service("~command", segment_sign_command, command_callback)
 
-    toggle_patch_visualization = True
-    print("Toggle patch visualisation is {}. Press p to change.".format(toggle_patch_visualization))
-    rate = rospy.Rate(30)
+    # visualization in soft sleep, until awake service called
     while not rospy.is_shutdown():
-        img_processed = copy(img_rgb_stream)
-        keypoints = do_hough_circle_detection(img_processed, copy(img_depth_stream))
+        if segment_enable:
+            canny = rospy.get_param("sign_detector/canny_param1")  #100
+            accum_thresh = rospy.get_param("sign_detector/canny_param2") #30
 
-        if toggle_patch_visualization:
             img_processed = copy(img_rgb_stream)
-            patches = get_tensor_patches(copy(img_rgb_stream), keypoints)
-            visualize_patches(keypoints, patches, ["d:{:1.3f}".format(k["depth"]) for k in keypoints], img_processed)
-
-        cv2.imshow("Parameters", img_processed)
-        canny = cv2.getTrackbarPos("Canny", "Parameters")
-        accum_thresh = cv2.getTrackbarPos("Accum", "Parameters")
+            keypoints = do_hough_circle_detection(img_processed, copy(img_depth_stream), VISUALIZE=True)
 
-        k = cv2.waitKey(1) & 0xFF
-        if k == ord("p"):
-            print("Toggle patch visualisation is {}".format(toggle_patch_visualization))
-            toggle_patch_visualization = not toggle_patch_visualization
+            if toggle_patch_visualization:
+                img_processed = copy(img_rgb_stream)
+                patches = get_tensor_patches(copy(img_rgb_stream), keypoints)
+                img_processed = visualize_patches(keypoints, patches, ["d:{:1.3f}".format(k["depth"]) for k in keypoints], img_processed)
 
+            publish_image(img_processed, pub_cmpr_img)
 
-        rate.sleep()
+        segment_rate.sleep()
diff --git a/minibot_vision/scripts/ShapeDetector.py b/minibot_vision/scripts/ShapeDetector.py
index c2c3df93bac3fa6cc41dccb586c95cfc9169188a..565328962c1b2f810ec269de8b28d01dc52fac6b 100644
--- a/minibot_vision/scripts/ShapeDetector.py
+++ b/minibot_vision/scripts/ShapeDetector.py
@@ -93,7 +93,7 @@ def do_shape_detection(img_rgb, img_depth):
     if VISUALIZE:
         cv2.imshow('thresh img', thresh1)
 
-    contours, hierarchy = cv2.findContours(thresh1, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)[-2:]
+    contours, hierarchy = cv2.findContours(thresh1, cv2.RETR_TREE, cv2.CHAIN_APPROX_SIMPLE)
     keypoints = []
     for cnt in contours:
         approx = cv2.approxPolyDP(cnt,0.01*cv2.arcLength(cnt,True),True)
@@ -142,4 +142,4 @@ if __name__=="__main__":
         #cv2.imshow("Shape", img_processed)
 
 
-        rate.sleep()
+        rate.sleep()
\ No newline at end of file
diff --git a/minibot_vision/scripts/SignDetector.py b/minibot_vision/scripts/SignDetector.py
old mode 100644
new mode 100755
diff --git a/minibot_vision/scripts/TmClassification.py b/minibot_vision/scripts/TmClassification.py
old mode 100644
new mode 100755
diff --git a/minibot_vision/scripts/TmClassificationLite.py b/minibot_vision/scripts/TmClassificationLite.py
old mode 100644
new mode 100755
diff --git a/minibot_vision/scripts/__init__.py b/minibot_vision/scripts/__init__.py
old mode 100644
new mode 100755
diff --git a/minibot_vision/scripts/__pycache__/Crop_Sign.cpython-38.pyc b/minibot_vision/scripts/__pycache__/Crop_Sign.cpython-38.pyc
deleted file mode 100644
index ee0aa504f599a35636d7b35f7f67b8d501be7d99..0000000000000000000000000000000000000000
Binary files a/minibot_vision/scripts/__pycache__/Crop_Sign.cpython-38.pyc and /dev/null differ
diff --git a/minibot_vision/scripts/__pycache__/SegmentSign.cpython-38.pyc b/minibot_vision/scripts/__pycache__/SegmentSign.cpython-38.pyc
deleted file mode 100644
index 1769aa6ab76c9ccca3ba04008cd180456863213f..0000000000000000000000000000000000000000
Binary files a/minibot_vision/scripts/__pycache__/SegmentSign.cpython-38.pyc and /dev/null differ
diff --git a/minibot_vision/scripts/__pycache__/ShapeDetector.cpython-38.pyc b/minibot_vision/scripts/__pycache__/ShapeDetector.cpython-38.pyc
deleted file mode 100644
index a51d05721688d61c67981b8229a17035f9fd5147..0000000000000000000000000000000000000000
Binary files a/minibot_vision/scripts/__pycache__/ShapeDetector.cpython-38.pyc and /dev/null differ
diff --git a/minibot_vision/scripts/__pycache__/TmClassification.cpython-38.pyc b/minibot_vision/scripts/__pycache__/TmClassification.cpython-38.pyc
deleted file mode 100644
index 72f414b783d89d0b17a604d7243335c6b2185358..0000000000000000000000000000000000000000
Binary files a/minibot_vision/scripts/__pycache__/TmClassification.cpython-38.pyc and /dev/null differ
diff --git a/minibot_vision/scripts/example_sign_classification.py b/minibot_vision/scripts/example_sign_classification.py
old mode 100644
new mode 100755
diff --git a/minibot_vision/scripts/example_sign_classification_lite.py b/minibot_vision/scripts/example_sign_classification_lite.py
old mode 100644
new mode 100755
diff --git a/minibot_vision/scripts/useful_code_snippets.py b/minibot_vision/scripts/useful_code_snippets.py
old mode 100644
new mode 100755
diff --git a/minibot_workshop/CMakeLists.txt b/minibot_workshops/CMakeLists.txt
similarity index 97%
rename from minibot_workshop/CMakeLists.txt
rename to minibot_workshops/CMakeLists.txt
index aed97bbe40158db915442babc58d22a8ab828130..563bc4fdeaa55393e7124eb6452c9e661e6ac07a 100644
--- a/minibot_workshop/CMakeLists.txt
+++ b/minibot_workshops/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(minibot_workshop)
+project(minibot_workshops)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
@@ -100,7 +100,7 @@ find_package(catkin REQUIRED)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
 #  INCLUDE_DIRS include
-#  LIBRARIES minibot_workshop
+#  LIBRARIES minibot_workshops
 #  CATKIN_DEPENDS other_catkin_pkg
 #  DEPENDS system_lib
 )
@@ -118,7 +118,7 @@ include_directories(
 
 ## Declare a C++ library
 # add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/minibot_workshop.cpp
+#   src/${PROJECT_NAME}/minibot_workshops.cpp
 # )
 
 ## Add cmake target dependencies of the library
@@ -129,7 +129,7 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/minibot_workshop_node.cpp)
+# add_executable(${PROJECT_NAME}_node src/minibot_workshops_node.cpp)
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -193,7 +193,7 @@ include_directories(
 #############
 
 ## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_minibot_workshop.cpp)
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_minibot_workshops.cpp)
 # if(TARGET ${PROJECT_NAME}-test)
 #   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
 # endif()
diff --git a/minibot_workshops/README.md b/minibot_workshops/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..39a3b5baac575d624f28ed5e566d15651773aa39
--- /dev/null
+++ b/minibot_workshops/README.md
@@ -0,0 +1,13 @@
+# Minibot Worshops
+This package is the entry point of all the individual workshops.
+
+## Traffic Sign
+A workshop to learn, detect and react to traffic signs.
+
+### Startup
+Run `roslaunch minibot_workshops traffic_sign_workshop.launch`.
+This workshop works together with our blockly web-interface, so make sure the corresponding webserver is running as well.
+
+We crop detected traffic signs at first so that it is easier to train a network that detects them.
+However, for this there are two parameters for the needed hough transform that are dependent on current lightning conditions.
+There is more about this in the **Segment Sign** section within `minibot_vision/README.md` as well as a guideline on how to create optimal signs in **Guideline for optimal Sign Detection**.
diff --git a/minibot_workshop/launch/traffic_sign_workshop.launch b/minibot_workshops/launch/traffic_sign_workshop.launch
similarity index 52%
rename from minibot_workshop/launch/traffic_sign_workshop.launch
rename to minibot_workshops/launch/traffic_sign_workshop.launch
index d7f0e66ffff4541c9b54d8ab3bfa988ea9ef2b65..0d32100f9a3214fb8035a69d9606394114168fee 100644
--- a/minibot_workshop/launch/traffic_sign_workshop.launch
+++ b/minibot_workshops/launch/traffic_sign_workshop.launch
@@ -1,5 +1,12 @@
 <?xml version="1.0"?>
 <launch>
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" > 
+	<arg name="port" value="9090"/>
+    </include>
+    <include file="$(find minibot)/launch/bringup_minibot.launch" >
+        <arg name="run_arm" value="false" />
+    </include>
+
     <include file="$(find minibot_vision)/launch/capture_imgs.launch" >
         <arg name="remote_node" value="true" />
     </include>
@@ -7,6 +14,7 @@
     <group ns="$(env ROBOT)" >
         <node name="sign_detector" pkg="minibot_vision" type="SignDetector.py" output="screen" />
         <rosparam file="$(find minibot_vision)/config/sign_detector.yaml" />
+
+        <node name="hough_transform" pkg="minibot_vision" type="SegmentSign.py" output="screen" />
     </group>
 </launch>
-
diff --git a/minibot_workshops/launch/traffic_sign_workshop_rviz.launch b/minibot_workshops/launch/traffic_sign_workshop_rviz.launch
new file mode 100644
index 0000000000000000000000000000000000000000..855da38297f70c6691cd77cdb449446a2722608a
--- /dev/null
+++ b/minibot_workshops/launch/traffic_sign_workshop_rviz.launch
@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="websocket_external_port" default="None" />
+
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" > 
+	    <arg name="port" value="9090"/>
+        <arg name="websocket_external_port" default="$(arg websocket_external_port)" />
+    </include>   
+
+    <include file="$(find minibot)/launch/bringup_minibot.launch" >
+        <arg name="run_arm" value="false" />
+        <arg name="as_visualisation" value="true" />
+        <!-- Set init position of arm joints -->
+        <arg name="arm_j1" value="0"/>
+        <arg name="arm_j2" value="1.1"/>
+        <arg name="arm_j3" value="-2.0"/>
+        <arg name="arm_j4" value="-0.6"/>
+    </include>
+
+    
+    <!--param name="left1" command="cat '$(find minibot_workshops)/models/left_sign/model.urdf'" />
+    <node pkg="tf" type="static_transform_publisher" name="left1_pos" args="1 0 0 3.1415 0 0 world box_base_link 10" /-->
+
+    <include file="$(find minibot_workshops)/launch/traffic_sign_workshop_rviz_world.launch" />
+
+    <include file="$(find minibot_vision)/launch/capture_imgs.launch" >
+        <arg name="remote_node" value="true" />
+    </include>
+
+    <group ns="$(env ROBOT)" >
+        <node name="sign_detector" pkg="minibot_vision" type="SignDetector.py" output="screen" />
+        <rosparam file="$(find minibot_vision)/config/sign_detector_rviz.yaml" />
+    </group>
+</launch>
diff --git a/minibot_workshops/launch/traffic_sign_workshop_rviz_world.launch b/minibot_workshops/launch/traffic_sign_workshop_rviz_world.launch
new file mode 100644
index 0000000000000000000000000000000000000000..2e319c82120739f7519f0bf9ac81b995eac6fa20
--- /dev/null
+++ b/minibot_workshops/launch/traffic_sign_workshop_rviz_world.launch
@@ -0,0 +1,17 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- send world urdf to param server -->
+    <param name="world_description" command="$(find xacro)/xacro $(find minibot_workshops)/worlds/traffic_sign_rviz.urdf.xacro" />
+    <!-- Set Posotion of models with static tf -->
+    <!-- 
+        Type of args
+        static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms
+        static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period_in_ms
+    -->
+    <node pkg="tf" type="static_transform_publisher" name="world" args="0 0 0 0 0 0 world world_base_link 1000" />
+
+    <node name="robot_state_publisher_world" pkg="robot_state_publisher" type="robot_state_publisher">
+        <remap from="robot_description" to="world_description" />
+        <remap from="joint_states" to="world_description/joint_states" />
+    </node>
+</launch>
diff --git a/minibot_workshops/launch/traffic_sign_workshop_sim.launch b/minibot_workshops/launch/traffic_sign_workshop_sim.launch
new file mode 100644
index 0000000000000000000000000000000000000000..5c56d19d72e62efc3a1c1b9e8b4763c6c86489ca
--- /dev/null
+++ b/minibot_workshops/launch/traffic_sign_workshop_sim.launch
@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="world" default="$(find minibot_workshops)/worlds/traffic_sign.world" />
+
+    <!-- startup simulated world -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <!--arg name="world_name" default="worlds/empty.world"/-->
+        <arg name="paused" value="true"/> <!-- physics have to be paused to set init positions of joints -->
+        <arg name="gui" value="true"/>
+        <arg name="world_name" value="$(arg world)"/>
+    </include> 
+
+    <include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" > 
+	    <arg name="port" value="9090"/>
+    </include>   
+
+    <include file="$(find minibot)/launch/bringup_minibot.launch" >
+        <arg name="run_arm" value="false" />
+        <arg name="as_simulation" value="true" />
+        <!-- Set init position of arm joints -->
+        <arg name="arm_j1" value="0"/>
+        <arg name="arm_j2" value="1.1"/>
+        <arg name="arm_j3" value="-2.0"/>
+        <arg name="arm_j4" value="-0.6"/>
+    </include>
+
+    <include file="$(find minibot_vision)/launch/capture_imgs.launch" >
+        <arg name="remote_node" value="true" />
+    </include>
+
+    <group ns="$(env ROBOT)" >
+        <node name="sign_detector" pkg="minibot_vision" type="SignDetector.py" output="screen" />
+        <rosparam file="$(find minibot_vision)/config/sign_detector_gazebo.yaml" />
+    </group>
+</launch>
diff --git a/minibot_workshops/models/left_sign/meshes/left.png b/minibot_workshops/models/left_sign/meshes/left.png
new file mode 100644
index 0000000000000000000000000000000000000000..c271c1e1be3319e39c08894a26160f6b2c5e9528
Binary files /dev/null and b/minibot_workshops/models/left_sign/meshes/left.png differ
diff --git a/minibot_workshops/models/left_sign/meshes/left_sign.blend b/minibot_workshops/models/left_sign/meshes/left_sign.blend
new file mode 100644
index 0000000000000000000000000000000000000000..79960b1244a1b5c53519e8c5ed47869ec03dbb14
Binary files /dev/null and b/minibot_workshops/models/left_sign/meshes/left_sign.blend differ
diff --git a/minibot_workshops/models/left_sign/meshes/left_sign.blend1 b/minibot_workshops/models/left_sign/meshes/left_sign.blend1
new file mode 100644
index 0000000000000000000000000000000000000000..b36b194f8cfd5e10b38c61d4dbae6feff156ef99
Binary files /dev/null and b/minibot_workshops/models/left_sign/meshes/left_sign.blend1 differ
diff --git a/minibot_workshops/models/left_sign/meshes/left_sign.dae b/minibot_workshops/models/left_sign/meshes/left_sign.dae
new file mode 100644
index 0000000000000000000000000000000000000000..c4d7eb74d071887570dcf62606430c184873969d
--- /dev/null
+++ b/minibot_workshops/models/left_sign/meshes/left_sign.dae
@@ -0,0 +1,234 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2022-05-07T19:40:13</created>
+    <modified>2022-05-07T19:40:13</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <newparam sid="left_png-surface">
+          <surface type="2D">
+            <init_from>left_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="left_png-sampler">
+          <sampler2D>
+            <source>left_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="left_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="left_png" name="left_png">
+      <init_from>left.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cylinder_001-mesh" name="Cylinder.001">
+      <mesh>
+        <source id="Cylinder_001-mesh-positions">
+          <float_array id="Cylinder_001-mesh-positions-array" count="192">0 1 -1 0 1 1 0.1950903 0.9807853 -1 0.1950903 0.9807853 1 0.3826835 0.9238795 -1 0.3826835 0.9238795 1 0.5555703 0.8314696 -1 0.5555703 0.8314696 1 0.7071068 0.7071068 -1 0.7071068 0.7071068 1 0.8314696 0.5555703 -1 0.8314696 0.5555703 1 0.9238795 0.3826834 -1 0.9238795 0.3826834 1 0.9807853 0.1950903 -1 0.9807853 0.1950903 1 1 0 -1 1 0 1 0.9807853 -0.1950903 -1 0.9807853 -0.1950903 1 0.9238796 -0.3826834 -1 0.9238796 -0.3826834 1 0.8314697 -0.5555702 -1 0.8314697 -0.5555702 1 0.7071068 -0.7071068 -1 0.7071068 -0.7071068 1 0.5555702 -0.8314697 -1 0.5555702 -0.8314697 1 0.3826835 -0.9238795 -1 0.3826835 -0.9238795 1 0.1950903 -0.9807853 -1 0.1950903 -0.9807853 1 0 -1 -1 0 -1 1 -0.1950902 -0.9807853 -1 -0.1950902 -0.9807853 1 -0.3826834 -0.9238795 -1 -0.3826834 -0.9238795 1 -0.5555703 -0.8314695 -1 -0.5555703 -0.8314695 1 -0.7071067 -0.7071068 -1 -0.7071067 -0.7071068 1 -0.8314695 -0.5555704 -1 -0.8314695 -0.5555704 1 -0.9238795 -0.3826836 -1 -0.9238795 -0.3826836 1 -0.9807853 -0.1950904 -1 -0.9807853 -0.1950904 1 -1 0 -1 -1 0 1 -0.9807853 0.1950904 -1 -0.9807853 0.1950904 1 -0.9238795 0.3826836 -1 -0.9238795 0.3826836 1 -0.8314697 0.5555701 -1 -0.8314697 0.5555701 1 -0.7071069 0.7071067 -1 -0.7071069 0.7071067 1 -0.5555703 0.8314696 -1 -0.5555703 0.8314696 1 -0.3826834 0.9238796 -1 -0.3826834 0.9238796 1 -0.1950902 0.9807853 -1 -0.1950902 0.9807853 1</float_array>
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+          <technique_common>
+            <accessor source="#Cylinder-mesh-map-0-array" count="372" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cylinder-mesh-vertices">
+          <input semantic="POSITION" source="#Cylinder-mesh-positions"/>
+        </vertices>
+        <triangles count="124">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 4 1 4 2 1 5 5 2 6 6 2 7 4 2 8 7 3 9 8 3 10 6 3 11 9 4 12 10 4 13 8 4 14 11 5 15 12 5 16 10 5 17 13 6 18 14 6 19 12 6 20 15 7 21 16 7 22 14 7 23 17 8 24 18 8 25 16 8 26 19 9 27 20 9 28 18 9 29 21 10 30 22 10 31 20 10 32 23 11 33 24 11 34 22 11 35 25 12 36 26 12 37 24 12 38 27 13 39 28 13 40 26 13 41 29 14 42 30 14 43 28 14 44 31 15 45 32 15 46 30 15 47 33 16 48 34 16 49 32 16 50 35 17 51 36 17 52 34 17 53 37 18 54 38 18 55 36 18 56 39 19 57 40 19 58 38 19 59 41 20 60 42 20 61 40 20 62 43 21 63 44 21 64 42 21 65 45 22 66 46 22 67 44 22 68 47 23 69 48 23 70 46 23 71 49 24 72 50 24 73 48 24 74 51 25 75 52 25 76 50 25 77 53 26 78 54 26 79 52 26 80 55 27 81 56 27 82 54 27 83 57 28 84 58 28 85 56 28 86 59 29 87 60 29 88 58 29 89 53 30 90 37 30 91 21 30 92 61 31 93 62 31 94 60 31 95 63 32 96 0 32 97 62 32 98 14 33 99 30 33 100 46 33 101 1 0 102 3 0 103 2 0 104 3 34 105 5 34 106 4 34 107 5 2 108 7 2 109 6 2 110 7 35 111 9 35 112 8 35 113 9 4 114 11 4 115 10 4 116 11 36 117 13 36 118 12 36 119 13 6 120 15 6 121 14 6 122 15 7 123 17 7 124 16 7 125 17 8 126 19 8 127 18 8 128 19 37 129 21 37 130 20 37 131 21 38 132 23 38 133 22 38 134 23 39 135 25 39 136 24 39 137 25 12 138 27 12 139 26 12 140 27 40 141 29 40 142 28 40 143 29 41 144 31 41 145 30 41 146 31 15 147 33 15 148 32 15 149 33 16 150 35 16 151 34 16 152 35 42 153 37 42 154 36 42 155 37 43 156 39 43 157 38 43 158 39 44 159 41 44 160 40 44 161 41 45 162 43 45 163 42 45 164 43 46 165 45 46 166 44 46 167 45 22 168 47 22 169 46 22 170 47 23 171 49 23 172 48 23 173 49 24 174 51 24 175 50 24 176 51 47 177 53 47 178 52 47 179 53 26 180 55 26 181 54 26 182 55 27 183 57 27 184 56 27 185 57 28 186 59 28 187 58 28 188 59 48 189 61 48 190 60 48 191 5 30 192 3 30 193 61 30 194 3 30 195 1 30 196 61 30 197 1 30 198 63 30 199 61 30 200 61 30 201 59 30 202 57 30 203 57 30 204 55 30 205 61 30 206 55 30 207 53 30 208 61 30 209 53 49 210 51 49 211 49 49 212 49 50 213 47 50 214 45 50 215 45 30 216 43 30 217 41 30 218 41 30 219 39 30 220 37 30 221 37 30 222 35 30 223 33 30 224 33 30 225 31 30 226 29 30 227 29 30 228 27 30 229 25 30 230 25 30 231 23 30 232 21 30 233 21 51 234 19 51 235 17 51 236 17 52 237 15 52 238 13 52 239 13 30 240 11 30 241 9 30 242 9 30 243 7 30 244 5 30 245 53 30 246 49 30 247 37 30 248 49 30 249 45 30 250 37 30 251 45 30 252 41 30 253 37 30 254 37 30 255 33 30 256 29 30 257 29 30 258 25 30 259 37 30 260 25 30 261 21 30 262 37 30 263 21 53 264 17 53 265 5 53 266 17 30 267 13 30 268 5 30 269 13 54 270 9 54 271 5 54 272 5 55 273 61 55 274 53 55 275 5 30 276 53 30 277 21 30 278 61 56 279 63 56 280 62 56 281 63 32 282 1 32 283 0 32 284 62 33 285 0 33 286 2 33 287 2 33 288 4 33 289 6 33 290 6 33 291 8 33 292 10 33 293 10 33 294 12 33 295 14 33 296 14 33 297 16 33 298 18 33 299 18 33 300 20 33 301 22 33 302 22 33 303 24 33 304 26 33 305 26 33 306 28 33 307 30 33 308 30 33 309 32 33 310 34 33 311 34 33 312 36 33 313 38 33 314 38 33 315 40 33 316 42 33 317 42 33 318 44 33 319 46 33 320 46 33 321 48 33 322 50 33 323 50 33 324 52 33 325 46 33 326 52 33 327 54 33 328 46 33 329 54 33 330 56 33 331 58 33 332 58 33 333 60 33 334 54 33 335 60 33 336 62 33 337 54 33 338 62 33 339 2 33 340 14 33 341 2 33 342 6 33 343 14 33 344 6 33 345 10 33 346 14 33 347 14 33 348 18 33 349 22 33 350 22 33 351 26 33 352 14 33 353 26 33 354 30 33 355 14 33 356 30 33 357 34 33 358 46 33 359 34 57 360 38 57 361 46 57 362 38 58 363 42 58 364 46 58 365 46 33 366 54 33 367 62 33 368 62 59 369 14 59 370 46 59 371</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="surface" name="surface" type="NODE">
+        <matrix sid="transform">-3.0598e-9 0 0.001 0.01 0 0.07 0 0 -0.07 0 -4.37114e-11 0.4 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_001-mesh" name="surface">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="pole" name="pole" type="NODE">
+        <matrix sid="transform">0.005 0 0 0 0 0.005 0 0 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="pole"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/minibot_workshops/models/left_sign/model.config b/minibot_workshops/models/left_sign/model.config
new file mode 100644
index 0000000000000000000000000000000000000000..3f7d521784e9c7634c53b221cadae07f0e01dcd7
--- /dev/null
+++ b/minibot_workshops/models/left_sign/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>left_sign</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name>Christopher Kelter</name>
+        <email>Christopher.Kelter@student.uibk.ac.at</email>
+    </author>
+    <description>Turn left sign</description>
+</model>
diff --git a/minibot_workshops/models/left_sign/model.sdf b/minibot_workshops/models/left_sign/model.sdf
new file mode 100644
index 0000000000000000000000000000000000000000..d1a5813a1753ccbde28b305133bc6bc9288e88f0
--- /dev/null
+++ b/minibot_workshops/models/left_sign/model.sdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<sdf version='1.7'>
+    <model name="left_sign">
+      <pose>0 0 0  0 0 0</pose>
+      <static>true</static>
+      <link name="left_sign_body">
+        <visual name='visual_left_sign'>
+          <geometry>
+            <mesh>
+              <uri>model://left_sign/meshes/left_sign.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+</sdf>
diff --git a/minibot_workshops/models/left_sign/model.urdf b/minibot_workshops/models/left_sign/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..efc3ce66d76cf1d66952e8dc1046f12db3d837f3
--- /dev/null
+++ b/minibot_workshops/models/left_sign/model.urdf
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot name="box">
+  <link name="box_base_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://minibot_workshops/models/left_sign/meshes/left_sign.dae"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/minibot_workshops/models/left_sign/model.urdf.xacro b/minibot_workshops/models/left_sign/model.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..a111c5e151a0ace341f36b073b5ed41f9ae612e6
--- /dev/null
+++ b/minibot_workshops/models/left_sign/model.urdf.xacro
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="left_sign" params="name x:=0 y:=0 z:=0 yaw:=0 pitch:=0 roll:=0 worldname:=world">
+        <link name="${name}">
+            <visual>
+                <geometry>
+                    <mesh filename="package://minibot_workshops/models/left_sign/meshes/left_sign.dae"/>
+                </geometry>
+            </visual>
+        </link>
+
+        <joint name="${worldname}_base_link_to_${name}" type="fixed">
+            <parent link="${worldname}_base_link" />
+            <child link="${name}" />
+            <origin rpy="${roll} ${pitch} ${yaw} " xyz="${x} ${y} ${z}"/>
+        </joint>
+    </xacro:macro>
+</robot>
diff --git a/minibot_workshops/models/right_sign/meshes/right.png b/minibot_workshops/models/right_sign/meshes/right.png
new file mode 100644
index 0000000000000000000000000000000000000000..613c5c09f4ce11cf2b7911eba886bf6608ee99bd
Binary files /dev/null and b/minibot_workshops/models/right_sign/meshes/right.png differ
diff --git a/minibot_workshops/models/right_sign/meshes/right_sign.blend b/minibot_workshops/models/right_sign/meshes/right_sign.blend
new file mode 100644
index 0000000000000000000000000000000000000000..167bb27efe08c3d5f46f1038a26293c1c5238a4b
Binary files /dev/null and b/minibot_workshops/models/right_sign/meshes/right_sign.blend differ
diff --git a/minibot_workshops/models/right_sign/meshes/right_sign.dae b/minibot_workshops/models/right_sign/meshes/right_sign.dae
new file mode 100644
index 0000000000000000000000000000000000000000..c9c89aa6b72d0f580ebdb2356782e876d6c46dce
--- /dev/null
+++ b/minibot_workshops/models/right_sign/meshes/right_sign.dae
@@ -0,0 +1,237 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2022-05-07T13:42:39</created>
+    <modified>2022-05-07T13:42:39</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <newparam sid="right_png-surface">
+          <surface type="2D">
+            <init_from>right_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="right_png-sampler">
+          <sampler2D>
+            <source>right_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">1 1 1 1</color>
+            </ambient>
+            <diffuse>
+              <texture texture="right_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="right_png" name="right_png">
+      <init_from>right.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cylinder_001-mesh" name="Cylinder.001">
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+          <technique_common>
+            <accessor source="#Cylinder-mesh-map-0-array" count="372" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cylinder-mesh-vertices">
+          <input semantic="POSITION" source="#Cylinder-mesh-positions"/>
+        </vertices>
+        <triangles count="124">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 4 1 4 2 1 5 5 2 6 6 2 7 4 2 8 7 3 9 8 3 10 6 3 11 9 4 12 10 4 13 8 4 14 11 5 15 12 5 16 10 5 17 13 6 18 14 6 19 12 6 20 15 7 21 16 7 22 14 7 23 17 8 24 18 8 25 16 8 26 19 9 27 20 9 28 18 9 29 21 10 30 22 10 31 20 10 32 23 11 33 24 11 34 22 11 35 25 12 36 26 12 37 24 12 38 27 13 39 28 13 40 26 13 41 29 14 42 30 14 43 28 14 44 31 15 45 32 15 46 30 15 47 33 16 48 34 16 49 32 16 50 35 17 51 36 17 52 34 17 53 37 18 54 38 18 55 36 18 56 39 19 57 40 19 58 38 19 59 41 20 60 42 20 61 40 20 62 43 21 63 44 21 64 42 21 65 45 22 66 46 22 67 44 22 68 47 23 69 48 23 70 46 23 71 49 24 72 50 24 73 48 24 74 51 25 75 52 25 76 50 25 77 53 26 78 54 26 79 52 26 80 55 27 81 56 27 82 54 27 83 57 28 84 58 28 85 56 28 86 59 29 87 60 29 88 58 29 89 53 30 90 37 30 91 21 30 92 61 31 93 62 31 94 60 31 95 63 32 96 0 32 97 62 32 98 14 33 99 30 33 100 46 33 101 1 0 102 3 0 103 2 0 104 3 34 105 5 34 106 4 34 107 5 2 108 7 2 109 6 2 110 7 35 111 9 35 112 8 35 113 9 4 114 11 4 115 10 4 116 11 36 117 13 36 118 12 36 119 13 6 120 15 6 121 14 6 122 15 7 123 17 7 124 16 7 125 17 8 126 19 8 127 18 8 128 19 37 129 21 37 130 20 37 131 21 38 132 23 38 133 22 38 134 23 39 135 25 39 136 24 39 137 25 12 138 27 12 139 26 12 140 27 40 141 29 40 142 28 40 143 29 41 144 31 41 145 30 41 146 31 15 147 33 15 148 32 15 149 33 16 150 35 16 151 34 16 152 35 42 153 37 42 154 36 42 155 37 43 156 39 43 157 38 43 158 39 44 159 41 44 160 40 44 161 41 45 162 43 45 163 42 45 164 43 46 165 45 46 166 44 46 167 45 22 168 47 22 169 46 22 170 47 23 171 49 23 172 48 23 173 49 24 174 51 24 175 50 24 176 51 47 177 53 47 178 52 47 179 53 26 180 55 26 181 54 26 182 55 27 183 57 27 184 56 27 185 57 28 186 59 28 187 58 28 188 59 48 189 61 48 190 60 48 191 5 30 192 3 30 193 61 30 194 3 30 195 1 30 196 61 30 197 1 30 198 63 30 199 61 30 200 61 30 201 59 30 202 57 30 203 57 30 204 55 30 205 61 30 206 55 30 207 53 30 208 61 30 209 53 49 210 51 49 211 49 49 212 49 50 213 47 50 214 45 50 215 45 30 216 43 30 217 41 30 218 41 30 219 39 30 220 37 30 221 37 30 222 35 30 223 33 30 224 33 30 225 31 30 226 29 30 227 29 30 228 27 30 229 25 30 230 25 30 231 23 30 232 21 30 233 21 51 234 19 51 235 17 51 236 17 52 237 15 52 238 13 52 239 13 30 240 11 30 241 9 30 242 9 30 243 7 30 244 5 30 245 53 30 246 49 30 247 37 30 248 49 30 249 45 30 250 37 30 251 45 30 252 41 30 253 37 30 254 37 30 255 33 30 256 29 30 257 29 30 258 25 30 259 37 30 260 25 30 261 21 30 262 37 30 263 21 53 264 17 53 265 5 53 266 17 30 267 13 30 268 5 30 269 13 54 270 9 54 271 5 54 272 5 55 273 61 55 274 53 55 275 5 30 276 53 30 277 21 30 278 61 56 279 63 56 280 62 56 281 63 32 282 1 32 283 0 32 284 62 33 285 0 33 286 2 33 287 2 33 288 4 33 289 6 33 290 6 33 291 8 33 292 10 33 293 10 33 294 12 33 295 14 33 296 14 33 297 16 33 298 18 33 299 18 33 300 20 33 301 22 33 302 22 33 303 24 33 304 26 33 305 26 33 306 28 33 307 30 33 308 30 33 309 32 33 310 34 33 311 34 33 312 36 33 313 38 33 314 38 33 315 40 33 316 42 33 317 42 33 318 44 33 319 46 33 320 46 33 321 48 33 322 50 33 323 50 33 324 52 33 325 46 33 326 52 33 327 54 33 328 46 33 329 54 33 330 56 33 331 58 33 332 58 33 333 60 33 334 54 33 335 60 33 336 62 33 337 54 33 338 62 33 339 2 33 340 14 33 341 2 33 342 6 33 343 14 33 344 6 33 345 10 33 346 14 33 347 14 33 348 18 33 349 22 33 350 22 33 351 26 33 352 14 33 353 26 33 354 30 33 355 14 33 356 30 33 357 34 33 358 46 33 359 34 57 360 38 57 361 46 57 362 38 58 363 42 58 364 46 58 365 46 33 366 54 33 367 62 33 368 62 59 369 14 59 370 46 59 371</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="surface" name="surface" type="NODE">
+        <matrix sid="transform">-3.0598e-9 0 0.001 0.01 0 0.07 0 0 -0.07 0 -4.37114e-11 0.4 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_001-mesh" name="surface">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="pole" name="pole" type="NODE">
+        <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="pole"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/minibot_workshops/models/right_sign/meshes/rightv1.png b/minibot_workshops/models/right_sign/meshes/rightv1.png
new file mode 100644
index 0000000000000000000000000000000000000000..1e9acc7a67c4d73a1e6db13ea940b4741f07ab18
Binary files /dev/null and b/minibot_workshops/models/right_sign/meshes/rightv1.png differ
diff --git a/minibot_workshops/models/right_sign/model.config b/minibot_workshops/models/right_sign/model.config
new file mode 100644
index 0000000000000000000000000000000000000000..38b8572b9339db0b3a8e45f3ed6c8a60f765216e
--- /dev/null
+++ b/minibot_workshops/models/right_sign/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>right_sign</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name>Christopher Kelter</name>
+        <email>Christopher.Kelter@student.uibk.ac.at</email>
+    </author>
+    <description>Turn right sign</description>
+</model>
diff --git a/minibot_workshops/models/right_sign/model.sdf b/minibot_workshops/models/right_sign/model.sdf
new file mode 100644
index 0000000000000000000000000000000000000000..6a925f6792557989ccc25aa5b071f5c64dc17fe7
--- /dev/null
+++ b/minibot_workshops/models/right_sign/model.sdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<sdf version='1.7'>
+    <model name="right_sign">
+      <pose>0 0 0  0 0 0</pose>
+      <static>true</static>
+      <link name="right_sign_body">
+        <visual name='visual_right_sign'>
+          <geometry>
+            <mesh>
+              <uri>model://right_sign/meshes/right_sign.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+</sdf>
diff --git a/minibot_workshops/models/right_sign/model.urdf b/minibot_workshops/models/right_sign/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..83891b93f129fb68c5f036741b94e6f345677f6d
--- /dev/null
+++ b/minibot_workshops/models/right_sign/model.urdf
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot name="box">
+  <link name="box_base_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://minibot_workshops/models/right_sign/meshes/right_sign.dae"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/minibot_workshops/models/right_sign/model.urdf.xacro b/minibot_workshops/models/right_sign/model.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..20d5e508b4d91c27ffdc496cafa3f1288612ea91
--- /dev/null
+++ b/minibot_workshops/models/right_sign/model.urdf.xacro
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="right_sign" params="name x:=0 y:=0 z:=0 yaw:=0 pitch:=0 roll:=0 worldname:=world">
+        <link name="${name}">
+            <visual>
+                <geometry>
+                    <mesh filename="package://minibot_workshops/models/right_sign/meshes/right_sign.dae"/>
+                </geometry>
+                <!--origin rpy="${roll} ${pitch} ${yaw} " xyz="${x} ${y} ${z}"/-->
+            </visual>
+        </link>
+
+        <joint name="${worldname}_base_link_to_${name}" type="fixed">
+            <parent link="${worldname}_base_link" />
+            <child link="${name}" />
+            <origin rpy="${roll} ${pitch} ${yaw} " xyz="${x} ${y} ${z}"/>
+        </joint>
+    </xacro:macro>
+</robot>
diff --git a/minibot_workshops/models/stop_sign/meshes/stop.png b/minibot_workshops/models/stop_sign/meshes/stop.png
new file mode 100644
index 0000000000000000000000000000000000000000..ea5ca8fcedb32807938e7d30dc81f3945562a2d3
Binary files /dev/null and b/minibot_workshops/models/stop_sign/meshes/stop.png differ
diff --git a/minibot_workshops/models/stop_sign/meshes/stop_sign.blend b/minibot_workshops/models/stop_sign/meshes/stop_sign.blend
new file mode 100644
index 0000000000000000000000000000000000000000..906e7cba1e1b5f976683148535c69d07a46b39b7
Binary files /dev/null and b/minibot_workshops/models/stop_sign/meshes/stop_sign.blend differ
diff --git a/minibot_workshops/models/stop_sign/meshes/stop_sign.blend1 b/minibot_workshops/models/stop_sign/meshes/stop_sign.blend1
new file mode 100644
index 0000000000000000000000000000000000000000..9a96ff9cd765aaafe4d3e0f7dc8c2b08831137b9
Binary files /dev/null and b/minibot_workshops/models/stop_sign/meshes/stop_sign.blend1 differ
diff --git a/minibot_workshops/models/stop_sign/meshes/stop_sign.dae b/minibot_workshops/models/stop_sign/meshes/stop_sign.dae
new file mode 100644
index 0000000000000000000000000000000000000000..bfc48484c2f1ecf1e4764ec405a5c718ef0030ce
--- /dev/null
+++ b/minibot_workshops/models/stop_sign/meshes/stop_sign.dae
@@ -0,0 +1,234 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2022-10-30T12:33:30</created>
+    <modified>2022-10-30T12:33:30</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material_001-effect">
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+          <p>1 0 0 2 0 1 0 0 2 3 1 3 4 1 4 2 1 5 5 2 6 6 2 7 4 2 8 7 3 9 8 3 10 6 3 11 9 4 12 10 4 13 8 4 14 11 5 15 12 5 16 10 5 17 13 6 18 14 6 19 12 6 20 15 7 21 16 7 22 14 7 23 17 8 24 18 8 25 16 8 26 19 9 27 20 9 28 18 9 29 21 10 30 22 10 31 20 10 32 23 11 33 24 11 34 22 11 35 25 12 36 26 12 37 24 12 38 27 13 39 28 13 40 26 13 41 29 14 42 30 14 43 28 14 44 31 15 45 32 15 46 30 15 47 33 16 48 34 16 49 32 16 50 35 17 51 36 17 52 34 17 53 37 18 54 38 18 55 36 18 56 39 19 57 40 19 58 38 19 59 41 20 60 42 20 61 40 20 62 43 21 63 44 21 64 42 21 65 45 22 66 46 22 67 44 22 68 47 23 69 48 23 70 46 23 71 49 24 72 50 24 73 48 24 74 51 25 75 52 25 76 50 25 77 53 26 78 54 26 79 52 26 80 55 27 81 56 27 82 54 27 83 57 28 84 58 28 85 56 28 86 59 29 87 60 29 88 58 29 89 53 30 90 37 30 91 21 30 92 61 31 93 62 31 94 60 31 95 63 32 96 0 32 97 62 32 98 14 33 99 30 33 100 46 33 101 1 0 102 3 0 103 2 0 104 3 34 105 5 34 106 4 34 107 5 2 108 7 2 109 6 2 110 7 35 111 9 35 112 8 35 113 9 4 114 11 4 115 10 4 116 11 36 117 13 36 118 12 36 119 13 6 120 15 6 121 14 6 122 15 7 123 17 7 124 16 7 125 17 8 126 19 8 127 18 8 128 19 37 129 21 37 130 20 37 131 21 38 132 23 38 133 22 38 134 23 39 135 25 39 136 24 39 137 25 12 138 27 12 139 26 12 140 27 40 141 29 40 142 28 40 143 29 41 144 31 41 145 30 41 146 31 15 147 33 15 148 32 15 149 33 16 150 35 16 151 34 16 152 35 42 153 37 42 154 36 42 155 37 43 156 39 43 157 38 43 158 39 44 159 41 44 160 40 44 161 41 45 162 43 45 163 42 45 164 43 46 165 45 46 166 44 46 167 45 22 168 47 22 169 46 22 170 47 23 171 49 23 172 48 23 173 49 24 174 51 24 175 50 24 176 51 47 177 53 47 178 52 47 179 53 26 180 55 26 181 54 26 182 55 27 183 57 27 184 56 27 185 57 28 186 59 28 187 58 28 188 59 48 189 61 48 190 60 48 191 5 30 192 3 30 193 61 30 194 3 30 195 1 30 196 61 30 197 1 30 198 63 30 199 61 30 200 61 30 201 59 30 202 57 30 203 57 30 204 55 30 205 61 30 206 55 30 207 53 30 208 61 30 209 53 49 210 51 49 211 49 49 212 49 50 213 47 50 214 45 50 215 45 30 216 43 30 217 41 30 218 41 30 219 39 30 220 37 30 221 37 30 222 35 30 223 33 30 224 33 30 225 31 30 226 29 30 227 29 30 228 27 30 229 25 30 230 25 30 231 23 30 232 21 30 233 21 51 234 19 51 235 17 51 236 17 52 237 15 52 238 13 52 239 13 30 240 11 30 241 9 30 242 9 30 243 7 30 244 5 30 245 53 30 246 49 30 247 37 30 248 49 30 249 45 30 250 37 30 251 45 30 252 41 30 253 37 30 254 37 30 255 33 30 256 29 30 257 29 30 258 25 30 259 37 30 260 25 30 261 21 30 262 37 30 263 21 53 264 17 53 265 5 53 266 17 30 267 13 30 268 5 30 269 13 54 270 9 54 271 5 54 272 5 55 273 61 55 274 53 55 275 5 30 276 53 30 277 21 30 278 61 56 279 63 56 280 62 56 281 63 32 282 1 32 283 0 32 284 62 33 285 0 33 286 2 33 287 2 33 288 4 33 289 6 33 290 6 33 291 8 33 292 10 33 293 10 33 294 12 33 295 14 33 296 14 33 297 16 33 298 18 33 299 18 33 300 20 33 301 22 33 302 22 33 303 24 33 304 26 33 305 26 33 306 28 33 307 30 33 308 30 33 309 32 33 310 34 33 311 34 33 312 36 33 313 38 33 314 38 33 315 40 33 316 42 33 317 42 33 318 44 33 319 46 33 320 46 33 321 48 33 322 50 33 323 50 33 324 52 33 325 46 33 326 52 33 327 54 33 328 46 33 329 54 33 330 56 33 331 58 33 332 58 33 333 60 33 334 54 33 335 60 33 336 62 33 337 54 33 338 62 33 339 2 33 340 14 33 341 2 33 342 6 33 343 14 33 344 6 33 345 10 33 346 14 33 347 14 33 348 18 33 349 22 33 350 22 33 351 26 33 352 14 33 353 26 33 354 30 33 355 14 33 356 30 33 357 34 33 358 46 33 359 34 57 360 38 57 361 46 57 362 38 58 363 42 58 364 46 58 365 46 33 366 54 33 367 62 33 368 62 59 369 14 59 370 46 59 371</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="surface" name="surface" type="NODE">
+        <matrix sid="transform">-3.0598e-9 0 0.001 0.01 0.02678784 0.06467157 1.67276e-11 0 -0.06467157 0.02678784 -4.03841e-11 0.4 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_004-mesh" name="surface">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="pole" name="pole" type="NODE">
+        <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="pole"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/minibot_workshops/models/stop_sign/meshes/stop_sign.stl b/minibot_workshops/models/stop_sign/meshes/stop_sign.stl
new file mode 100644
index 0000000000000000000000000000000000000000..7cfffc7f64e7c901f7361823906dfc74fca474bf
Binary files /dev/null and b/minibot_workshops/models/stop_sign/meshes/stop_sign.stl differ
diff --git a/minibot_workshops/models/stop_sign/model.config b/minibot_workshops/models/stop_sign/model.config
new file mode 100644
index 0000000000000000000000000000000000000000..8da73b3287e90e8db67f0f1408c2271eb1b08c1b
--- /dev/null
+++ b/minibot_workshops/models/stop_sign/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>stop_sign</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name>Christopher Kelter</name>
+        <email>Christopher.Kelter@student.uibk.ac.at</email>
+    </author>
+    <description>Turnabout sign</description>
+</model>
diff --git a/minibot_workshops/models/stop_sign/model.sdf b/minibot_workshops/models/stop_sign/model.sdf
new file mode 100644
index 0000000000000000000000000000000000000000..90c1ba03f715f2b5516b176e5b2f74a322ff9698
--- /dev/null
+++ b/minibot_workshops/models/stop_sign/model.sdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<sdf version='1.7'>
+    <model name="stop_sign">
+      <pose>0 0 0  0 0 0</pose>
+      <static>true</static>
+      <link name="stop_sign_body">
+        <visual name='visual_stop_sign'>
+          <geometry>
+            <mesh>
+              <uri>model://stop_sign/meshes/stop_sign.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+</sdf>
diff --git a/minibot_workshops/models/stop_sign/model.urdf b/minibot_workshops/models/stop_sign/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9d0cee3925a80ad9cc7a630616b6b84a7c01f6e2
--- /dev/null
+++ b/minibot_workshops/models/stop_sign/model.urdf
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot name="box">
+  <link name="box_base_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://minibot_workshops/models/stop_sign/meshes/stop_sign.dae"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/minibot_workshops/models/stop_sign/model.urdf.xacro b/minibot_workshops/models/stop_sign/model.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..eafc7ed770eaeef92373790e22c23d64d037d8f8
--- /dev/null
+++ b/minibot_workshops/models/stop_sign/model.urdf.xacro
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="stop_sign" params="name x:=0 y:=0 z:=0 yaw:=0 pitch:=0 roll:=0 worldname:=world">
+        <link name="${name}">
+            <visual>
+                <geometry>
+                    <mesh filename="package://minibot_workshops/models/stop_sign/meshes/stop_sign.dae"/>
+                </geometry>
+                <!--origin rpy="${roll} ${pitch} ${yaw} " xyz="${x} ${y} ${z}"/-->
+            </visual>
+        </link>
+
+        <joint name="${worldname}_base_link_to_${name}" type="fixed">
+            <parent link="${worldname}_base_link" />
+            <child link="${name}" />
+            <origin rpy="${roll} ${pitch} ${yaw} " xyz="${x} ${y} ${z}"/>
+        </joint>
+    </xacro:macro>
+</robot>
diff --git a/minibot_workshops/models/turnabout_sign/meshes/turnabout.png b/minibot_workshops/models/turnabout_sign/meshes/turnabout.png
new file mode 100644
index 0000000000000000000000000000000000000000..756d32ea7e77d98d9a9af5f0c017f3e834c3a513
Binary files /dev/null and b/minibot_workshops/models/turnabout_sign/meshes/turnabout.png differ
diff --git a/minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.blend b/minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.blend
new file mode 100644
index 0000000000000000000000000000000000000000..a50b64be738735ebcc954a53ac9538756b7c4ba9
Binary files /dev/null and b/minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.blend differ
diff --git a/minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.blend1 b/minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.blend1
new file mode 100644
index 0000000000000000000000000000000000000000..933200328ce89bc42110c6da0e58a99b6b10fc8c
Binary files /dev/null and b/minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.blend1 differ
diff --git a/minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.dae b/minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.dae
new file mode 100644
index 0000000000000000000000000000000000000000..ad3b64703d49ff3d14a0de7c959deb665127e53b
--- /dev/null
+++ b/minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.dae
@@ -0,0 +1,234 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.1.2 commit date:2022-03-31, commit time:17:40, hash:cc66d1020c3b</authoring_tool>
+    </contributor>
+    <created>2022-10-30T10:43:23</created>
+    <modified>2022-10-30T10:43:23</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-camera" name="Camera">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov sid="xfov">39.59775</xfov>
+            <aspect_ratio>1.777778</aspect_ratio>
+            <znear sid="znear">0.1</znear>
+            <zfar sid="zfar">100</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+      <extra>
+        <technique profile="blender">
+          <shiftx sid="shiftx" type="float">0</shiftx>
+          <shifty sid="shifty" type="float">0</shifty>
+          <dof_distance sid="dof_distance" type="float">10</dof_distance>
+        </technique>
+      </extra>
+    </camera>
+  </library_cameras>
+  <library_lights>
+    <light id="Light-light" name="Light">
+      <technique_common>
+        <point>
+          <color sid="color">1000 1000 1000</color>
+          <constant_attenuation>1</constant_attenuation>
+          <linear_attenuation>0</linear_attenuation>
+          <quadratic_attenuation>0.00111109</quadratic_attenuation>
+        </point>
+      </technique_common>
+      <extra>
+        <technique profile="blender">
+          <type sid="type" type="int">0</type>
+          <flag sid="flag" type="int">0</flag>
+          <mode sid="mode" type="int">1</mode>
+          <gamma sid="blender_gamma" type="float">1</gamma>
+          <red sid="red" type="float">1</red>
+          <green sid="green" type="float">1</green>
+          <blue sid="blue" type="float">1</blue>
+          <shadow_r sid="blender_shadow_r" type="float">0</shadow_r>
+          <shadow_g sid="blender_shadow_g" type="float">0</shadow_g>
+          <shadow_b sid="blender_shadow_b" type="float">0</shadow_b>
+          <energy sid="blender_energy" type="float">1000</energy>
+          <dist sid="blender_dist" type="float">29.99998</dist>
+          <spotsize sid="spotsize" type="float">75</spotsize>
+          <spotblend sid="spotblend" type="float">0.15</spotblend>
+          <att1 sid="att1" type="float">0</att1>
+          <att2 sid="att2" type="float">1</att2>
+          <falloff_type sid="falloff_type" type="int">2</falloff_type>
+          <clipsta sid="clipsta" type="float">0.04999995</clipsta>
+          <clipend sid="clipend" type="float">30.002</clipend>
+          <bias sid="bias" type="float">1</bias>
+          <soft sid="soft" type="float">3</soft>
+          <bufsize sid="bufsize" type="int">2880</bufsize>
+          <samp sid="samp" type="int">3</samp>
+          <buffers sid="buffers" type="int">1</buffers>
+          <area_shape sid="area_shape" type="int">1</area_shape>
+          <area_size sid="area_size" type="float">0.1</area_size>
+          <area_sizey sid="area_sizey" type="float">0.1</area_sizey>
+          <area_sizez sid="area_sizez" type="float">1</area_sizez>
+        </technique>
+      </extra>
+    </light>
+  </library_lights>
+  <library_effects>
+    <effect id="Material_001-effect">
+      <profile_COMMON>
+        <newparam sid="turnabout_png-surface">
+          <surface type="2D">
+            <init_from>turnabout_png</init_from>
+          </surface>
+        </newparam>
+        <newparam sid="turnabout_png-sampler">
+          <sampler2D>
+            <source>turnabout_png-surface</source>
+          </sampler2D>
+        </newparam>
+        <technique sid="common">
+          <lambert>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <diffuse>
+              <texture texture="turnabout_png-sampler" texcoord="UVMap"/>
+            </diffuse>
+            <index_of_refraction>
+              <float sid="ior">1.45</float>
+            </index_of_refraction>
+          </lambert>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images>
+    <image id="turnabout_png" name="turnabout_png">
+      <init_from>turnabout.png</init_from>
+    </image>
+  </library_images>
+  <library_materials>
+    <material id="Material_001-material" name="Material.001">
+      <instance_effect url="#Material_001-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="Cylinder_001-mesh" name="Cylinder.001">
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+          <technique_common>
+            <accessor source="#Cylinder_001-mesh-positions-array" count="64" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
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+              <param name="X" type="float"/>
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0.4495527 0.3833369 0.4197056 0.4197056 0.4197056 0.4197056 0.3833369 0.4495527 0.341844 0.4717311 0.02826893 0.341844 0.00999999 0.25 0.1581559 0.02826887 0.00999999 0.25 0.02826887 0.1581559 0.1581559 0.02826887 0.02826887 0.1581559 0.08029437 0.08029437 0.1581559 0.02826887 0.1581559 0.02826887 0.25 0.00999999 0.341844 0.02826887 0.341844 0.02826887 0.4197056 0.08029437 0.1581559 0.02826887 0.4197056 0.08029437 0.4717311 0.1581559 0.1581559 0.02826887 0.4717311 0.1581559 0.49 0.25 0.341844 0.4717311 0.49 0.25 0.4717311 0.341844 0.341844 0.4717311 0.4717311 0.341844 0.4197056 0.4197056 0.341844 0.4717311 0.341844 0.4717311 0.1581559 0.4717311 0.02826893 0.341844 0.341844 0.4717311 0.02826893 0.341844 0.4717311 0.1581559 0.0625 1 0.03125 1 0.03125 0.5 0.03125 1 0 1 0 0.5 0.7031784 0.4853885 0.75 0.49 0.7968217 0.4853885 0.7968217 0.4853885 0.841844 0.4717311 0.8833369 0.4495527 0.8833369 0.4495527 0.9197056 0.4197056 0.9495527 0.3833369 0.9495527 0.3833369 0.9717311 0.341844 0.9853885 0.2968217 0.9853885 0.2968217 0.99 0.25 0.9853885 0.2031783 0.9853885 0.2031783 0.9717311 0.1581559 0.9495527 0.1166631 0.9495527 0.1166631 0.9197056 0.08029437 0.8833369 0.05044728 0.8833369 0.05044728 0.841844 0.02826887 0.7968217 0.01461148 0.7968217 0.01461148 0.75 0.00999999 0.7031784 0.01461148 0.7031784 0.01461148 0.658156 0.02826887 0.6166631 0.05044728 0.6166631 0.05044728 0.5802944 0.08029437 0.5504474 0.116663 0.5504474 0.116663 0.5282689 0.1581559 0.5146116 0.2031783 0.5146116 0.2031783 0.51 0.25 0.5146116 0.2968217 0.5146116 0.2968217 0.5282689 0.341844 0.5146116 0.2031783 0.5282689 0.341844 0.5504473 0.3833368 0.5146116 0.2031783 0.5504473 0.3833368 0.5802944 0.4197056 0.6166631 0.4495527 0.6166631 0.4495527 0.658156 0.4717311 0.5504473 0.3833368 0.658156 0.4717311 0.7031784 0.4853885 0.5504473 0.3833368 0.7031784 0.4853885 0.7968217 0.4853885 0.9853885 0.2968217 0.7968217 0.4853885 0.8833369 0.4495527 0.9853885 0.2968217 0.8833369 0.4495527 0.9495527 0.3833369 0.9853885 0.2968217 0.9853885 0.2968217 0.9853885 0.2031783 0.9495527 0.1166631 0.9495527 0.1166631 0.8833369 0.05044728 0.9853885 0.2968217 0.8833369 0.05044728 0.7968217 0.01461148 0.9853885 0.2968217 0.7968217 0.01461148 0.7031784 0.01461148 0.5146116 0.2031783 0.7031784 0.01461148 0.6166631 0.05044728 0.5146116 0.2031783 0.6166631 0.05044728 0.5504474 0.116663 0.5146116 0.2031783 0.5146116 0.2031783 0.5504473 0.3833368 0.7031784 0.4853885 0.7031784 0.4853885 0.9853885 0.2968217 0.5146116 0.2031783</float_array>
+          <technique_common>
+            <accessor source="#Cylinder-mesh-map-0-array" count="372" stride="2">
+              <param name="S" type="float"/>
+              <param name="T" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="Cylinder-mesh-vertices">
+          <input semantic="POSITION" source="#Cylinder-mesh-positions"/>
+        </vertices>
+        <triangles count="124">
+          <input semantic="VERTEX" source="#Cylinder-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#Cylinder-mesh-normals" offset="1"/>
+          <input semantic="TEXCOORD" source="#Cylinder-mesh-map-0" offset="2" set="0"/>
+          <p>1 0 0 2 0 1 0 0 2 3 1 3 4 1 4 2 1 5 5 2 6 6 2 7 4 2 8 7 3 9 8 3 10 6 3 11 9 4 12 10 4 13 8 4 14 11 5 15 12 5 16 10 5 17 13 6 18 14 6 19 12 6 20 15 7 21 16 7 22 14 7 23 17 8 24 18 8 25 16 8 26 19 9 27 20 9 28 18 9 29 21 10 30 22 10 31 20 10 32 23 11 33 24 11 34 22 11 35 25 12 36 26 12 37 24 12 38 27 13 39 28 13 40 26 13 41 29 14 42 30 14 43 28 14 44 31 15 45 32 15 46 30 15 47 33 16 48 34 16 49 32 16 50 35 17 51 36 17 52 34 17 53 37 18 54 38 18 55 36 18 56 39 19 57 40 19 58 38 19 59 41 20 60 42 20 61 40 20 62 43 21 63 44 21 64 42 21 65 45 22 66 46 22 67 44 22 68 47 23 69 48 23 70 46 23 71 49 24 72 50 24 73 48 24 74 51 25 75 52 25 76 50 25 77 53 26 78 54 26 79 52 26 80 55 27 81 56 27 82 54 27 83 57 28 84 58 28 85 56 28 86 59 29 87 60 29 88 58 29 89 53 30 90 37 30 91 21 30 92 61 31 93 62 31 94 60 31 95 63 32 96 0 32 97 62 32 98 14 33 99 30 33 100 46 33 101 1 0 102 3 0 103 2 0 104 3 34 105 5 34 106 4 34 107 5 2 108 7 2 109 6 2 110 7 35 111 9 35 112 8 35 113 9 4 114 11 4 115 10 4 116 11 36 117 13 36 118 12 36 119 13 6 120 15 6 121 14 6 122 15 7 123 17 7 124 16 7 125 17 8 126 19 8 127 18 8 128 19 37 129 21 37 130 20 37 131 21 38 132 23 38 133 22 38 134 23 39 135 25 39 136 24 39 137 25 12 138 27 12 139 26 12 140 27 40 141 29 40 142 28 40 143 29 41 144 31 41 145 30 41 146 31 15 147 33 15 148 32 15 149 33 16 150 35 16 151 34 16 152 35 42 153 37 42 154 36 42 155 37 43 156 39 43 157 38 43 158 39 44 159 41 44 160 40 44 161 41 45 162 43 45 163 42 45 164 43 46 165 45 46 166 44 46 167 45 22 168 47 22 169 46 22 170 47 23 171 49 23 172 48 23 173 49 24 174 51 24 175 50 24 176 51 47 177 53 47 178 52 47 179 53 26 180 55 26 181 54 26 182 55 27 183 57 27 184 56 27 185 57 28 186 59 28 187 58 28 188 59 48 189 61 48 190 60 48 191 5 30 192 3 30 193 61 30 194 3 30 195 1 30 196 61 30 197 1 30 198 63 30 199 61 30 200 61 30 201 59 30 202 57 30 203 57 30 204 55 30 205 61 30 206 55 30 207 53 30 208 61 30 209 53 49 210 51 49 211 49 49 212 49 50 213 47 50 214 45 50 215 45 30 216 43 30 217 41 30 218 41 30 219 39 30 220 37 30 221 37 30 222 35 30 223 33 30 224 33 30 225 31 30 226 29 30 227 29 30 228 27 30 229 25 30 230 25 30 231 23 30 232 21 30 233 21 51 234 19 51 235 17 51 236 17 52 237 15 52 238 13 52 239 13 30 240 11 30 241 9 30 242 9 30 243 7 30 244 5 30 245 53 30 246 49 30 247 37 30 248 49 30 249 45 30 250 37 30 251 45 30 252 41 30 253 37 30 254 37 30 255 33 30 256 29 30 257 29 30 258 25 30 259 37 30 260 25 30 261 21 30 262 37 30 263 21 53 264 17 53 265 5 53 266 17 30 267 13 30 268 5 30 269 13 54 270 9 54 271 5 54 272 5 55 273 61 55 274 53 55 275 5 30 276 53 30 277 21 30 278 61 56 279 63 56 280 62 56 281 63 32 282 1 32 283 0 32 284 62 33 285 0 33 286 2 33 287 2 33 288 4 33 289 6 33 290 6 33 291 8 33 292 10 33 293 10 33 294 12 33 295 14 33 296 14 33 297 16 33 298 18 33 299 18 33 300 20 33 301 22 33 302 22 33 303 24 33 304 26 33 305 26 33 306 28 33 307 30 33 308 30 33 309 32 33 310 34 33 311 34 33 312 36 33 313 38 33 314 38 33 315 40 33 316 42 33 317 42 33 318 44 33 319 46 33 320 46 33 321 48 33 322 50 33 323 50 33 324 52 33 325 46 33 326 52 33 327 54 33 328 46 33 329 54 33 330 56 33 331 58 33 332 58 33 333 60 33 334 54 33 335 60 33 336 62 33 337 54 33 338 62 33 339 2 33 340 14 33 341 2 33 342 6 33 343 14 33 344 6 33 345 10 33 346 14 33 347 14 33 348 18 33 349 22 33 350 22 33 351 26 33 352 14 33 353 26 33 354 30 33 355 14 33 356 30 33 357 34 33 358 46 33 359 34 57 360 38 57 361 46 57 362 38 58 363 42 58 364 46 58 365 46 33 366 54 33 367 62 33 368 62 59 369 14 59 370 46 59 371</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="surface" name="surface" type="NODE">
+        <matrix sid="transform">-3.0598e-9 0 0.001 0.01 0 0.07 0 0 -0.07 0 -4.37114e-11 0.4 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder_001-mesh" name="surface">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_001-material" target="#Material_001-material">
+                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
+              </instance_material>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="pole" name="pole" type="NODE">
+        <matrix sid="transform">0.01 0 0 0 0 0.01 0 0 0 0 0.2 0.2 0 0 0 1</matrix>
+        <instance_geometry url="#Cylinder-mesh" name="pole"/>
+      </node>
+      <node id="Camera" name="Camera" type="NODE">
+        <matrix sid="transform">0.6859207 -0.3240135 0.6515582 7.358891 0.7276763 0.3054208 -0.6141704 -6.925791 0 0.8953956 0.4452714 4.958309 0 0 0 1</matrix>
+        <instance_camera url="#Camera-camera"/>
+      </node>
+      <node id="Light" name="Light" type="NODE">
+        <matrix sid="transform">-0.2908646 -0.7711008 0.5663932 4.076245 0.9551712 -0.1998834 0.2183912 1.005454 -0.05518906 0.6045247 0.7946723 5.903862 0 0 0 1</matrix>
+        <instance_light url="#Light-light"/>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.stl b/minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.stl
new file mode 100644
index 0000000000000000000000000000000000000000..74da4bd99ad380cb44379621dff34b9155943ba1
Binary files /dev/null and b/minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.stl differ
diff --git a/minibot_workshops/models/turnabout_sign/model.config b/minibot_workshops/models/turnabout_sign/model.config
new file mode 100644
index 0000000000000000000000000000000000000000..7372ed6a27a85ff0eff9b77a127c706bd1cf00d2
--- /dev/null
+++ b/minibot_workshops/models/turnabout_sign/model.config
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>turnabout_sign</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name>Christopher Kelter</name>
+        <email>Christopher.Kelter@student.uibk.ac.at</email>
+    </author>
+    <description>Turnabout sign</description>
+</model>
diff --git a/minibot_workshops/models/turnabout_sign/model.sdf b/minibot_workshops/models/turnabout_sign/model.sdf
new file mode 100644
index 0000000000000000000000000000000000000000..30624d94504493af01ba210e4c293a0d0097d548
--- /dev/null
+++ b/minibot_workshops/models/turnabout_sign/model.sdf
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<sdf version='1.7'>
+    <model name="turnabout_sign">
+      <pose>0 0 0  0 0 0</pose>
+      <static>true</static>
+      <link name="turnabout_sign_body">
+        <visual name='visual_turnabout_sign'>
+          <geometry>
+            <mesh>
+              <uri>model://turnabout_sign/meshes/turnabout_sign.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+</sdf>
diff --git a/minibot_workshops/models/turnabout_sign/model.urdf b/minibot_workshops/models/turnabout_sign/model.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..8f310575d9c2ad42408c198e56dbb38cec42f164
--- /dev/null
+++ b/minibot_workshops/models/turnabout_sign/model.urdf
@@ -0,0 +1,10 @@
+<?xml version="1.0"?>
+<robot name="box">
+  <link name="box_base_link">
+    <visual>
+      <geometry>
+        <mesh filename="package://minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.dae"/>
+      </geometry>
+    </visual>
+  </link>
+</robot>
\ No newline at end of file
diff --git a/minibot_workshops/models/turnabout_sign/model.urdf.xacro b/minibot_workshops/models/turnabout_sign/model.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..56883d5628d127ed8dce040d6aca060e5d6e1aec
--- /dev/null
+++ b/minibot_workshops/models/turnabout_sign/model.urdf.xacro
@@ -0,0 +1,19 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="turnabout_sign" params="name x:=0 y:=0 z:=0 yaw:=0 pitch:=0 roll:=0 worldname:=world">
+        <link name="${name}">
+            <visual>
+                <geometry>
+                    <mesh filename="package://minibot_workshops/models/turnabout_sign/meshes/turnabout_sign.dae"/>
+                </geometry>
+                <!--origin rpy="${roll} ${pitch} ${yaw} " xyz="${x} ${y} ${z}"/-->
+            </visual>
+        </link>
+
+        <joint name="${worldname}_base_link_to_${name}" type="fixed">
+            <parent link="${worldname}_base_link" />
+            <child link="${name}" />
+            <origin rpy="${roll} ${pitch} ${yaw} " xyz="${x} ${y} ${z}"/>
+        </joint>
+    </xacro:macro>
+</robot>
diff --git a/minibot_workshop/package.xml b/minibot_workshops/package.xml
similarity index 91%
rename from minibot_workshop/package.xml
rename to minibot_workshops/package.xml
index 7ffcde50c12d4807ec49561a9241593b1bd58870..9edfacc231b357fd7db4fd827b86d8cfecaecaab 100644
--- a/minibot_workshop/package.xml
+++ b/minibot_workshops/package.xml
@@ -1,13 +1,13 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>minibot_workshop</name>
+  <name>minibot_workshops</name>
   <version>0.0.0</version>
-  <description>The minibot_workshop package</description>
+  <description>The minibot_workshops package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="chris@todo.todo">chris</maintainer>
+  <maintainer email="paddy@todo.todo">paddy</maintainer>
 
 
   <!-- One license tag required, multiple allowed, one license per tag -->
@@ -19,7 +19,7 @@
   <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/minibot_workshop</url> -->
+  <!-- <url type="website">http://wiki.ros.org/minibot_workshops</url> -->
 
 
   <!-- Author tags are optional, multiple are allowed, one per tag -->
diff --git a/minibot_workshops/scripts/traffic_sign_example.py b/minibot_workshops/scripts/traffic_sign_example.py
new file mode 100644
index 0000000000000000000000000000000000000000..d49d5141b9eb73564d9ee6ba40d96e532a5ad79c
--- /dev/null
+++ b/minibot_workshops/scripts/traffic_sign_example.py
@@ -0,0 +1,160 @@
+import time
+
+import rospy
+from geometry_msgs.msg import Twist
+from vision_msgs.msg import Detection2D, ObjectHypothesisWithPose
+from sphero_rvr_msgs.srv import MoveToPosAndYaw, MoveToPosAndYawRequest
+import math
+from std_srvs.srv import Empty
+
+# *** Constants ***
+ROBOT_NAME = "minibot"
+
+# *** Globals ***
+cmd_vel_pub = None
+sign_detection = Detection2D()
+new_detection = False
+label_map = {}
+
+
+# *** Callbacks ***
+def sign_detector_callback(data):
+    global sign_detection, new_detection
+
+    # only store the last message so that we can implement the algorithm sequentially
+    sign_detection = data
+    new_detection = True
+
+
+def call_move_to_pos_and_yaw(pos, yaw, speed=1.5, speed_in_si=True, frame_id="world"):
+    service = "/minibot/rvr/move_to_pos_and_yaw"
+
+    req = MoveToPosAndYawRequest()
+    req.header.frame_id = frame_id
+
+    req.position.x = pos[0]
+    req.position.y = pos[1]
+    req.position.z = pos[2]
+    req.yaw = yaw
+
+    req.speed = speed
+    req.speed_in_si = speed_in_si
+
+    try:
+        call = rospy.ServiceProxy(service, MoveToPosAndYaw)
+        response = call.call(req)
+    except rospy.ServiceException as e:
+        print("Service call failed: %s" % e)
+
+
+def turn_rvr(ang, dist):
+    service = "/{}/rvr/move_to_pos_and_yaw".format(ROBOT_NAME)
+
+    turnpoint = 0.3
+    if dist < 0:
+        dist = turnpoint
+
+    call_move_to_pos_and_yaw([0, dist - turnpoint, 0], 0.0, speed=0.2, speed_in_si=True, frame_id="base_link")
+    call_move_to_pos_and_yaw([0, 0, 0], ang, speed=0.2, speed_in_si=True, frame_id="base_link")
+
+
+def wake_rvr():
+    service = "/{}/rvr/wake".format(ROBOT_NAME)
+    try:
+        call = rospy.ServiceProxy(service, Empty)
+        response = call.call()
+    except rospy.ServiceException as e:
+        print("Service call failed: %s" % e)
+
+
+def feedback_loop():
+    global cmd_vel_pub, sign_detection, label_map, new_detection
+
+    # this map is needed to transform the integer id label to a string
+    label_map = rospy.get_param("/{}/sign_classification/class_labels/".format(ROBOT_NAME))
+
+    forward_msg = Twist()
+    forward_msg.linear.x = 0.2
+    stop_msg = Twist()
+    stop_msg.linear.x = 0.0
+
+    move_msg = forward_msg
+
+    last_timestamp = rospy.get_rostime()
+    rate = rospy.Rate(10)
+    while(not rospy.is_shutdown()):
+        # move rvr
+        cmd_vel_pub.publish(move_msg)
+
+        # check camera
+        if new_detection:
+            detection = sign_detection.results[0]
+            new_detection = False
+
+            # transform id to string label
+            label = label_map[str(detection.id)]
+            depth = detection.pose.pose.position.z
+            if sign_detection.header.stamp - last_timestamp < rospy.Duration(0, 0):
+                print("skiped because sign is outdated: header_stamp: {}, current_time: {}".format(sign_detection.header.stamp.to_time(), last_timestamp.to_time()))
+                continue
+
+            rospy.loginfo("({}) {} in {}m detected, time: {}s".format(rospy.get_name(), label, depth, sign_detection.header.stamp.to_time()))
+
+            # handle events
+            if depth < 0.6:
+                # The picture was taken before the last action as is so not valid
+
+                if label == "none":
+                    continue
+
+                if label == "left":
+                    rospy.loginfo("({}) executing {}".format(rospy.get_name(), label))
+                    move_msg = stop_msg
+                    cmd_vel_pub.publish(move_msg)
+                    rospy.sleep(0.5)
+                    # TODO something with the frames ond rotatio? is not working I guess
+                    turn_rvr(math.pi / 2, depth)
+                    rospy.sleep(2.)
+                    move_msg = forward_msg
+
+                elif label == "right":
+                    rospy.loginfo("({}) executing {}".format(rospy.get_name(), label))
+                    move_msg = stop_msg
+                    cmd_vel_pub.publish(move_msg)
+                    # 90 degree
+                    rospy.sleep(0.5)
+                    turn_rvr(-math.pi / 2, depth)
+                    rospy.sleep(0.5)
+                    move_msg = forward_msg
+
+                elif label == "turnabout":
+                    rospy.loginfo("({}) executing {}".format(rospy.get_name(), label))
+                    move_msg = stop_msg
+                    cmd_vel_pub.publish(move_msg)
+                    # 90 degree
+                    rospy.sleep(0.5)
+                    turn_rvr(math.pi, depth)
+                    rospy.sleep(0.5)
+                    move_msg = forward_msg
+
+                elif label == "stop":
+                    rospy.loginfo("({}) executing {}".format(rospy.get_name(), label))
+                    move_msg = stop_msg
+                    cmd_vel_pub.publish(move_msg)
+                    rospy.sleep(0.5)
+                    turn_rvr(0, depth)
+                    exit()
+
+                last_timestamp = rospy.get_rostime()
+
+        rate.sleep()
+
+
+if __name__ == "__main__":
+    rospy.init_node("traffic_sign_example")
+
+    cmd_vel_pub = rospy.Publisher("/{}/rvr/cmd_vel".format(ROBOT_NAME), Twist, queue_size=1)
+    rospy.Subscriber("/{}/sign_detector/keypoints".format(ROBOT_NAME), Detection2D, sign_detector_callback, queue_size=1)
+
+    wake_rvr()
+    feedback_loop()
diff --git a/minibot_workshops/worlds/empty_world.world b/minibot_workshops/worlds/empty_world.world
new file mode 100644
index 0000000000000000000000000000000000000000..dd331029d85c88071dee1768bcd825266f2a0619
--- /dev/null
+++ b/minibot_workshops/worlds/empty_world.world
@@ -0,0 +1,15 @@
+<?xml version="1.0" ?>
+
+<sdf version="1.5">
+	<world name="default">
+		<!-- A global light source -->
+		<include>
+			<uri>model://sun</uri>
+		</include>
+
+		<!-- A ground plane -->
+		<include>
+			<uri>model://ground_plane</uri>
+		</include>
+	</world>
+</sdf>
\ No newline at end of file
diff --git a/minibot_workshops/worlds/traffic_sign.world b/minibot_workshops/worlds/traffic_sign.world
new file mode 100644
index 0000000000000000000000000000000000000000..4ee63702f9bfbd8fd3297e005cfc590421c18085
--- /dev/null
+++ b/minibot_workshops/worlds/traffic_sign.world
@@ -0,0 +1,46 @@
+<?xml version="1.0" ?>
+
+<sdf version="1.5">
+	<world name="default">
+		<!-- A global light source -->
+		<include>
+			<uri>model://sun</uri>
+		</include>
+
+    <light name='directional_light' type='directional'>
+      <pose>-4.50852 5.02966 1 0 -0 0</pose>
+      <diffuse>0.5 0.5 0.5 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <direction>0.1 0.1 -0.9</direction>
+      <attenuation>
+        <range>20</range>
+        <constant>0.5</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <cast_shadows>1</cast_shadows>
+    </light>
+
+		<!-- A ground plane -->
+		<include>
+			<uri>model://ground_plane</uri>
+		</include>
+
+    <!-- ADD models here -->
+    <include>
+      <uri>model://left_sign</uri>
+      <name>left_sign_1</name>
+      <pose>2 0 0 0 0 -3.1415</pose>
+    </include>
+    <include>
+      <uri>model://left_sign</uri>
+      <name>left_sign_2</name>
+      <pose>1 3 0 0 0 -1.571</pose>
+    </include>
+    <include>
+      <uri>model://right_sign</uri>
+      <name>right_sign_1</name>
+      <pose>-2.0 2.0 0 0 0 0</pose>
+    </include>
+	</world>
+</sdf>
\ No newline at end of file
diff --git a/minibot_workshops/worlds/traffic_sign_rviz.urdf.xacro b/minibot_workshops/worlds/traffic_sign_rviz.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..4e6cfa44122a478e4cfff7b0ef04f03bd4891e0a
--- /dev/null
+++ b/minibot_workshops/worlds/traffic_sign_rviz.urdf.xacro
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="world" >
+    <xacro:property name="worldname" value="world" />
+    
+    <xacro:include filename="$(find minibot_workshops)/models/left_sign/model.urdf.xacro"/>
+    <xacro:include filename="$(find minibot_workshops)/models/right_sign/model.urdf.xacro"/>
+    <xacro:include filename="$(find minibot_workshops)/models/turnabout_sign/model.urdf.xacro"/>
+    <xacro:include filename="$(find minibot_workshops)/models/stop_sign/model.urdf.xacro"/>
+
+    <link name="${worldname}_base_link" />
+
+    <xacro:left_sign name="left_1" x="2.5" y="0" yaw="3.1415" />
+    <xacro:right_sign name="right_1" x="1.5" y="2.5" yaw="4.712" />
+    <xacro:turnabout_sign name="turnabout_1" x="3.5" y="1.5" yaw="3.1415" />
+    <xacro:stop_sign name="stop_1" x="0" y="1.5" />
+</robot>
\ No newline at end of file