diff --git a/canadarm2/Makefile b/canadarm2/Makefile
index cb95b691..e69de29b 100644
--- a/canadarm2/Makefile
+++ b/canadarm2/Makefile
@@ -1,60 +0,0 @@
-# Define variables
-DOCKER_IMAGE = osrf/space-ros:canadarm_demo
-WORKSPACE = ${HOME}/canadarm_ws
-LOCAL_WORKSPACE = $(shell pwd)
-SHELL := /bin/bash
-XTERM_CONFIG = -bg black -fg white -fa 'Monospace' -fs 11
-
-# Help target to describe each target
-.PHONY: help
-help:
-	@echo "CanadArm2 Makefile"
-	@echo "  make build          - Build the Docker image and the Gazebo workspace locally"
-	@echo "  make build-docker   - Build the Docker image"
-	@echo "  make build-gazebo   - Build the Gazebo workspace locally"
-	@echo "  make run-gazebo     - Run the CanadArm2 Gazebo simulation locally"
-	@echo "  make run-demo       - Run the CanadArm2 demo within Docker"
-	@echo "  make clean          - Clean the local workspace"
-	@echo "  make all            - Build and run everything"
-
-# Build all
-.PHONY: build
-build: build-docker build-gazebo
-
-# Build the Docker image
-.PHONY: build-docker
-build-docker:
-	docker build -t $(DOCKER_IMAGE) .
-
-# Run the CanadArm Gazebo simulation locally
-.PHONY: run-gazebo
-run-gazebo:
-	xterm $(XTERM_CONFIG) -T 'CanadArm2 Gazebo' -e 'source /opt/ros/${ROS_DISTRO}/setup.bash \
-		&& source $(LOCAL_WORKSPACE)/install/setup.bash \
-		&& ros2 launch canadarm_gazebo canadarm.launch.py' &
-
-# Build the Gazebo workspace locally
-.PHONY: build-gazebo
-build-gazebo:
-	@source /opt/ros/${ROS_DISTRO}/setup.bash && \
-	rosdep install --from-paths canadarm_gazebo --ignore-src -r -y && \
-	rosdep install --from-paths canadarm_description --ignore-src -r -y && \
-	colcon build --symlink-install --base-paths $(LOCAL_WORKSPACE) --install-base $(LOCAL_WORKSPACE)/install \
-        --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
-        --packages-select canadarm_description canadarm_gazebo
-
-# Run the CanadArm demo within Docker
-.PHONY: run-docker
-run-docker:
-	xterm $(XTERM_CONFIG) -T 'CanadArm2 Demo' -e "docker run -it --rm \
-		-e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
-		$(DOCKER_IMAGE) \
-		bash -c 'source ~/.bashrc && ros2 launch canadarm_demo canadarm.launch.py'" &
-
-.PHONY: clean
-clean:
-	rm -rf $(LOCAL_WORKSPACE)/install $(LOCAL_WORKSPACE)/log $(LOCAL_WORKSPACE)/build
-
-# Build and run everything
-.PHONY: run
-run: build run-gazebo run-docker
diff --git a/canadarm2/README.md b/canadarm2/README.md
index 528535f7..7c98c4d4 100644
--- a/canadarm2/README.md
+++ b/canadarm2/README.md
@@ -24,13 +24,33 @@ To start the demo, there are few dependencies that need to be installed. The fol
     ```bash
     cd canadarm2
     ```
-3. To build and run the demo, we use `Makefile`. Run the following command to build the docker image and run the container.
+3. To build and run the demo, we use `./build.sh`. There are different subcommands to build and run the demo. You can see the list of available commands using the following command.
     ```bash
     # To see the list of available commands
-    make help
+    ./build.sh help
+    ```
+4. To list the avaiable demos for the canadarm2, you can use the following command.
+    ```bash
+    # To list the available demos
+    ./build.sh list
 
-    # To build and run the demo
-    make run
+    # Available demos:
+    # -  control-demo
+    # Available subcommands:
+    # -  build, clean, run
+    ```
+5. To build the demo, you can use the following command.
+    ```bash
+    # To build all the demos for the canadarm2
+    ./build.sh build
+
+    # To build a selected demo, for example control-demo
+    ./build.sh build control-demo
+    ```
+6. To run the demo, you can use the following command.
+    ```bash
+    # To run the demo
+    ./build.sh run control-demo
     ```
 
 This will start the demo in one terminal and gazebo in another terminal. To control the canadarm2, we provide ros2 services for the demo. You can control the rover using the following services.
diff --git a/canadarm2/build.sh b/canadarm2/build.sh
new file mode 100755
index 00000000..d7f98de2
--- /dev/null
+++ b/canadarm2/build.sh
@@ -0,0 +1,160 @@
+#!/bin/bash
+
+set -e
+
+# Define variables
+DOCKER_IMAGE="osrf/space-ros:canadarm_demo"
+LOCAL_WORKSPACE=$(pwd)
+SHELL="/bin/bash"
+# shellcheck disable=SC2089
+XTERM_CONFIG="-bg black -fg white -fa 'Monospace' -fs 11"
+
+# Define packages
+SIM_PACKAGES="canadarm_description canadarm_gazebo"
+CONTROL_PACKAGE="canadarm_moveit_config canadarm_demo"
+DEMO_PACKAGES="$CONTROL_PACKAGE"
+AVAIABLE_DEMOS="control-demo"
+
+####################################################################################################
+# High-level functions
+####################################################################################################
+# Help function to describe each target
+help() {
+    echo "CanadArm2 Bash Script"
+    echo "  ./build.sh list                 - List all available demos"
+    echo "  ./build.sh build                - Build all the demo components. This will include all supported demos and the Docker image"
+    echo "  ./build.sh clean                - Clean the local workspace"
+    echo "  ./build.sh build control-demo   - Build the control demo"
+    echo "  ./build.sh run control-demo     - Build and run the CanadArm2 demo"
+    exit 0
+}
+
+# Build all
+build() {
+    build-control-demo
+}
+
+# Clean the local workspace
+clean() {
+    rm -rf "$LOCAL_WORKSPACE"/install "$LOCAL_WORKSPACE"/log "$LOCAL_WORKSPACE"/build
+}
+
+check_docker() {
+    if ! command -v docker &>/dev/null; then
+        echo "Docker is not installed. Please install Docker to continue."
+        exit 1
+    fi
+}
+
+check_xterm() {
+    if ! command -v xterm &>/dev/null; then
+        echo "xterm is not installed. Please install xterm to continue."
+        echo "On Ubuntu, you can install xterm with 'sudo apt install xterm'."
+        exit 1
+    fi
+}
+
+check_ros2() {
+    if ! command -v ros2 &>/dev/null; then
+        echo "ROS 2 is not installed. Please install ROS 2 to continue."
+        exit 1
+    fi
+}
+
+####################################################################################################
+# Low-level functions
+####################################################################################################
+# Build the Docker image
+build-docker() {
+    docker build -t "$DOCKER_IMAGE" .
+}
+
+# Run the CanadArm Gazebo simulation locally
+run-gazebo() {
+    # shellcheck disable=SC2090
+    # shellcheck disable=SC2086
+    xterm $XTERM_CONFIG -T 'CanadArm2 Gazebo' -e "source /opt/ros/\${ROS_DISTRO}/setup.bash \
+        && source $LOCAL_WORKSPACE/install/setup.bash \
+        && ros2 launch canadarm_gazebo canadarm.launch.py" &
+}
+
+# Build the Gazebo workspace locally
+build-gazebo() {
+    # shellcheck source=/opt/ros/${ROS_DISTRO}/setup.bash
+    # shellcheck disable=SC1091
+    source /opt/ros/"${ROS_DISTRO}"/setup.bash &&
+        rosdep install --from-paths . -r -y --skip-keys "$DEMO_PACKAGES" &&
+        colcon build --symlink-install --base-paths "$LOCAL_WORKSPACE" --install-base "$LOCAL_WORKSPACE"/install \
+            --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON \
+            --packages-select $SIM_PACKAGES
+}
+
+####################################################################################################
+# Control demo
+####################################################################################################
+build-control-demo() {
+    build-docker
+    build-gazebo
+}
+
+run-control-demo() {
+    # shellcheck disable=SC2090
+    # shellcheck disable=SC2086
+    xterm $XTERM_CONFIG -T 'CanadArm2 Demo' -e "docker run -it --rm \
+        -e RMW_IMPLEMENTATION=rmw_cyclonedds_cpp \
+        $DOCKER_IMAGE \
+        bash -c 'source ~/.bashrc && ros2 launch canadarm_demo canadarm.launch.py'" &
+}
+
+####################################################################################################
+# Main script logic to call the appropriate function
+####################################################################################################
+case "$1" in
+help)
+    help
+    ;;
+list)
+    echo "Available demos:"
+    for demo in $AVAIABLE_DEMOS; do
+        echo " -  $demo"
+    done
+    echo "Available subcommands:"
+    echo " -  build, clean, run"
+    exit 0
+    ;;
+clean)
+    clean
+    ;;
+build)
+    check_ros2
+    check_docker
+    case "$2" in
+    control-demo)
+        build-control-demo
+        ;;
+    *)
+        build
+        ;;
+    esac
+    ;;
+run)
+    check_xterm
+    check_ros2
+    check_docker
+
+    run-gazebo
+    case "$2" in
+    control-demo)
+        run-control-demo
+        ;;
+    *)
+        echo "Invalid target. 'run" "$2" "' is not a valid demo. Try './build.sh list' to see available demos."
+        exit 1
+        ;;
+    esac
+    ;;
+*)
+    echo "Invalid target. Use './build.sh help' to see available subcommands."
+    exit 1
+    ;;
+esac
diff --git a/canadarm2/canadarm_moveit_config/package.xml b/canadarm2/canadarm_moveit_config/package.xml
index a266ea59..b56e3632 100644
--- a/canadarm2/canadarm_moveit_config/package.xml
+++ b/canadarm2/canadarm_moveit_config/package.xml
@@ -34,7 +34,6 @@
   <exec_depend>moveit_configs_utils</exec_depend>
   <exec_depend>moveit_ros_move_group</exec_depend>
   <exec_depend>moveit_ros_visualization</exec_depend>
-  <exec_depend>moveit_ros_warehouse</exec_depend>
   <exec_depend>moveit_setup_assistant</exec_depend>
   <exec_depend>robot_state_publisher</exec_depend>
   <exec_depend>rviz2</exec_depend>
@@ -42,7 +41,6 @@
   <exec_depend>rviz_default_plugins</exec_depend>
   <exec_depend>simulation</exec_depend>
   <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>warehouse_ros_mongo</exec_depend>
   <exec_depend>xacro</exec_depend>