diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index b4a636ad203b5bc311e1edd45d554c95b0b63181..e7ac8c105331f391859800814a92f8b1bc53448a 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,37 +1,37 @@
 stages:
-  - test
+  # - test
   - build
-  - docu
+  # - docu
 
-cache:
-  - paths: 
-    - /home/install/
+# cache:
+#   - paths: 
+#     - /home/install/
 
-rq-pytests:
-  stage: test
-  image: ros:humble
-  before_script:
-   - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_interfaces
-   - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_hardware
-   - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_controller
-   - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_ddetection
-   - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_trajectory
-   - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_reconstruction
-   - rosdep install --from-paths . -y --ignore-src
-   - colcon build --merge-install
-   - apt update
-   - apt install wget
-   - wget https://bootstrap.pypa.io/get-pip.py
-   - python3 ./get-pip.py
-   - pip3 install pytest pytest-cov netCDF4 ros2-numpy Pillow pyometiff
+# rq-pytests:
+#   stage: test
+#   image: ros:humble
+#   before_script:
+#    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_interfaces
+#    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_hardware
+#    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_controller
+#    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_ddetection
+#    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_trajectory
+#    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_reconstruction
+#    - rosdep install --from-paths . -y --ignore-src
+#    - colcon build --merge-install
+#    - apt update
+#    - apt install wget
+#    - wget https://bootstrap.pypa.io/get-pip.py
+#    - python3 ./get-pip.py
+#    - pip3 install pytest pytest-cov netCDF4 ros2-numpy Pillow pyometiff
 
-  script:
-   - source ./install/setup.bash
-   # - python3 -m  pytest ./rq_controller/test/ --junitxml=report.xml
+#   script:
+#    - source ./install/setup.bash
+#    - python3 -m  pytest ./rq_controller/test/ --junitxml=report.xml
    
 build-ros:
   stage: build
-  dependencies: [rq-pytests]
+  # dependencies: [rq-pytests]
   before_script:
    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_interfaces
    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_hardware
@@ -42,35 +42,35 @@ build-ros:
    - rosdep install --from-paths . -y --ignore-src
    - colcon build --merge-install
   script:
-    - source ./home/install/setup.bash
+    - source ./install/setup.bash
   artifacts:
     when: always
     paths:
       - install
     name: ubuntu_humble
 
-create-docu:
-  stage: docu
-  dependencies: [rq-pytests]
-  before_script:
-   - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_interfaces
-   - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_hardware
-   - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_controller
-   - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_ddetection
-   - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_trajectory
-   - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_reconstruction
-   - rosdep install --from-paths . -y --ignore-src
-   - colcon build --merge-install
-   - apt update
-   - apt install wget
-   - wget https://bootstrap.pypa.io/get-pip.py
-   - python3 ./get-pip.py
-   - pip3 install pdoc3
-  script:
-    - source ./home/install/setup.bash
-    - mkdir doc
-    - python3 -m pdoc3 --html rq_controller -o=./doc/rq_controller -c show_source_code=True
-  artifacts:
-    when: always
-    paths:
-      - doc
+# create-docu:
+#   stage: docu
+#   dependencies: [rq-pytests]
+#   before_script:
+#    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_interfaces
+#    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_hardware
+#    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_controller
+#    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_ddetection
+#    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_trajectory
+#    - git clone https://gitlab-ci-token:${CI_JOB_TOKEN}@mygit.th-deg.de/roboct/robo_quality/rq_reconstruction
+#    - rosdep install --from-paths . -y --ignore-src
+#    - colcon build --merge-install
+#    - apt update
+#    - apt install wget
+#    - wget https://bootstrap.pypa.io/get-pip.py
+#    - python3 ./get-pip.py
+#    - pip3 install pdoc3
+#   script:
+#     - source ./home/install/setup.bash
+#     - mkdir doc
+#     - python3 -m pdoc3 --html rq_controller -o=./doc/rq_controller -c show_source_code=True
+#   artifacts:
+#     when: always
+#     paths:
+#       - doc