diff --git a/image/Jenkinsfile b/image/Jenkinsfile
deleted file mode 100644
index 6785b86c2..000000000
--- a/image/Jenkinsfile
+++ /dev/null
@@ -1,61 +0,0 @@
-pipeline {
-  agent any
-  stages {
-    stage('Get image') {
-      environment {
-        RPI_DONWLOAD_URL = 'https://downloads.raspberrypi.org/raspbian_lite_latest'
-        RPI_ZIP_NAME = 'raspbian_lite_latest.zip'
-        RPI_IMAGE_NAME = '2017-11-29-raspbian-stretch-lite.img'
-      }
-      steps {
-        sh "$WORKSPACE/image/image-config.sh get_image $BUILD_DIRECTORY $RPI_ZIP_NAME $RPI_DONWLOAD_URL $RPI_IMAGE_NAME $IMAGE_NAME"
-      }
-    }
-    stage('Resize FS') {
-      environment {
-        SIZE = '7G'
-      }
-      steps {
-        sh '$WORKSPACE/image/image-config.sh resize_fs $SIZE $BUILD_DIRECTORY $IMAGE_NAME $DEV_ROOTFS'
-      }
-    }
-    stage('Configure interfaces') {
-      environment {
-        EXECUTE_FILE = 'iface.sh'
-      }
-      steps {
-        sh '$WORKSPACE/image/image-config.sh execute $BUILD_DIRECTORY/$IMAGE_NAME $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $WORKSPACE/image/$EXECUTE_FILE'
-      }
-    }
-    stage('Install Apps') {
-      environment {
-        EXECUTE_FILE = 'apps.sh'
-      }
-      steps {
-        sh '$WORKSPACE/image/image-config.sh execute $BUILD_DIRECTORY/$IMAGE_NAME $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $WORKSPACE/image/$EXECUTE_FILE'
-      }
-    }
-    stage('Install ROS') {
-      environment {
-        EXECUTE_FILE = 'ros.sh'
-      }
-      steps {
-        sh '$WORKSPACE/image/image-config.sh execute $BUILD_DIRECTORY/$IMAGE_NAME $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $WORKSPACE/image/$EXECUTE_FILE'
-      }
-    }
-    stage('Publish image') {
-      environment {
-        CONFIG_FILE = 'coex-ci.conf'
-      }
-      steps {
-        sh '$WORKSPACE/image/image-config.sh publish_image $BUILD_DIRECTORY $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY'
-      }
-    }
-  }
-  environment {
-    BUILD_DIRECTORY = '/home/pi/clever_builder/temp'
-    PREFIX_PATH = '/mnt'
-    DEV_BOOT = '/dev/disk/by-uuid/CDD4-B453'
-    DEV_ROOTFS = '/dev/disk/by-uuid/72bfc10d-73ec-4d9e-a54a-1cc507ee7ed2'
-  }
-}
diff --git a/image/Jenkinsfile-build b/image/Jenkinsfile-build
deleted file mode 100644
index daa2180db..000000000
--- a/image/Jenkinsfile-build
+++ /dev/null
@@ -1,61 +0,0 @@
-pipeline {
-  agent any
-  parameters {
-    string(name: 'IMAGE_NAME', defaultValue: 'CLEVER-JENKINS-FILE.img', description: 'IMAGE_NAME')
-    //string(name: 'WORKSPACE', defaultValue: '', description: 'WORKSPACE')
-  }
-  environment {
-    BUILD_DIRECTORY = '/home/pi/temp'
-    PREFIX_PATH = '/mnt'
-    DEV_BOOT = '/dev/disk/by-uuid/CDD4-B453'
-    DEV_ROOTFS = '/dev/disk/by-uuid/72bfc10d-73ec-4d9e-a54a-1cc507ee7ed2'
-
-    DEBIAN_FRONTEND = 'noninteractive'
-    LANG = 'C.UTF-8'
-    LC_ALL = 'C.UTF-8'
-  }
-  stages {
-    stage('Get image') {
-      environment {
-        RPI_DONWLOAD_URL = 'https://downloads.raspberrypi.org/raspbian_lite_latest'
-        RPI_ZIP_NAME = 'raspbian_lite_latest.zip'
-        RPI_IMAGE_NAME = '2017-11-29-raspbian-stretch-lite.img'
-      }
-      steps {
-        sh "$WORKSPACE/image/image-config.sh get_image $BUILD_DIRECTORY $RPI_ZIP_NAME $RPI_DONWLOAD_URL $RPI_IMAGE_NAME ${params.IMAGE_NAME}"
-      }
-    }
-    stage('Resize FS') {
-      environment {
-        SIZE = '7G'
-      }
-      steps {
-        sh "$WORKSPACE/image/image-config.sh resize_fs $SIZE $BUILD_DIRECTORY ${params.IMAGE_NAME} $DEV_ROOTFS"
-      }
-    }
-    stage('Configure interfaces') {
-      environment {
-        EXECUTE_FILE = 'iface.sh'
-      }
-      steps {
-        sh "$WORKSPACE/image/image-config.sh execute $BUILD_DIRECTORY/${params.IMAGE_NAME} $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $WORKSPACE/image/$EXECUTE_FILE"
-      }
-    }
-    stage('Install Apps') {
-      environment {
-        EXECUTE_FILE = 'apps.sh'
-      }
-      steps {
-        sh "$WORKSPACE/image/image-config.sh execute $BUILD_DIRECTORY/${params.IMAGE_NAME} $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $WORKSPACE/image/$EXECUTE_FILE"
-      }
-    }
-    stage('Install ROS') {
-      environment {
-        EXECUTE_FILE = 'ros.sh'
-      }
-      steps {
-        sh "$WORKSPACE/image/image-config.sh execute $BUILD_DIRECTORY/${params.IMAGE_NAME} $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $WORKSPACE/image/$EXECUTE_FILE"
-      }
-    }
-  }
-}
diff --git a/image/Jenkinsfile-release-new b/image/Jenkinsfile-release-new
deleted file mode 100644
index cfb8c7334..000000000
--- a/image/Jenkinsfile-release-new
+++ /dev/null
@@ -1,56 +0,0 @@
-pipeline {
-  agent any
-  parameters {
-    string(name: 'IMAGE_NAME', defaultValue: '', description: 'IMAGE_NAME')
-    string(name: 'GWBT_RELEASE_ID', defaultValue: '', description: 'GWBT_RELEASE_ID')
-    string(name: 'GWBT_RELEASE_BODY', defaultValue: '', description: 'GWBT_RELEASE_BODY')
-  }
-  stages {
-    stage('Zip image') {
-      steps {
-        echo 'Zip image'
-        sh "zip $BUILD_DIRECTORY/$IMAGE_NAME.zip $BUILD_DIRECTORY/$IMAGE_NAME"
-        echo 'End of Zipping'
-      }
-    }
-    stage('Upload image') {
-      environment {
-        CONFIG_FILE = 'coex-ci.conf'
-      }
-      steps {
-        echo 'Upload image'
-        parameters {
-          string(name: 'IMAGE_LINK', defaultValue: '$($WORKSPACE/image/yadisk.py $BUILD_DIRECTORY/$CONFIG_FILE $BUILD_DIRECTORY/$IMAGE_NAME.zip)', description: 'IMAGE_NAME')
-        }
-        echo 'End of Upload'
-      }
-    }
-    stage('Send image to TESTER') {
-      steps {
-        echo 'Send image'
-        sh "# TODO"
-        echo 'End of Send image'
-      }
-    }
-    stage('Burn to MicroSD') {
-      steps {
-        echo 'Start Burn'
-        sh "# dd of=/dev/sda if=$BUILD_DIRECTORY/$IMAGE_NAME"
-        echo 'End of Burn'
-      }
-    }
-    stage('Publish image') {
-      environment {
-        CONFIG_FILE = 'coex-ci.conf'
-      }
-      steps {
-        echo 'Start Publish'
-        sh "$WORKSPACE/image/git_release.py $BUILD_DIRECTORY/$CONFIG_FILE ${params.GWBT_RELEASE_ID} ${params.GWBT_RELEASE_BODY} $IMAGE_NAME $IMAGE_LINK $(du -sh $BUILD_DIRECTORY/$IMAGE_NAME.zip | awk '{ print $1 }')"
-        echo 'End of Publish'
-      }
-    }
-  }
-  environment {
-    BUILD_DIRECTORY = '/home/pi/temp'
-  }
-}
diff --git a/image/apps.sh b/image/apps.sh
deleted file mode 100755
index 3069a0ad8..000000000
--- a/image/apps.sh
+++ /dev/null
@@ -1,113 +0,0 @@
-#!/bin/sh
-
-set -e
-
-##################################################################################################################################
-# Установка необходимых программ
-##################################################################################################################################
-
-
-echo "\033[0;31m\033[1m$(date) | #1 apt update && apt upgrade\033[0m\033[0m"
-
-# install bootstrap tools
-apt-get update
-# && apt upgrade -y
-
-
-
-echo "\033[0;31m\033[1m$(date) | #2 Install programs\033[0m\033[0m"
-
-apt-get install --no-install-recommends -y \
-  unzip \
-  zip \
-  ipython \
-  screen \
-  byobu \
-  nmap \
-  lsof \
-  python-pip \
-  git \
-  isc-dhcp-server \
-  tmux \
-  vim \
-  libpoco-dev \
-  tcpdump
-
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #3 Write to /etc/wpa_supplicant/wpa_supplicant.conf\033[0m\033[0m"
-
-echo "
-network={
-    ssid=\"CLEVER\"
-    mode=2
-    key_mgmt=WPA-PSK
-    psk=\"cleverwifi\"
-    frequency=2437
-}" >> /etc/wpa_supplicant/wpa_supplicant.conf
-
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #4 Write STATIC to /etc/dhcpcd.conf\033[0m\033[0m"
-
-echo "
-interface wlan0
-static ip_address=192.168.11.1/24" >> /etc/dhcpcd.conf
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #5 Write iface to /etc/default/isc-dhcp-server\033[0m\033[0m"
-
-# https://www.shellhacks.com/ru/sed-find-replace-string-in-file/
-sed -i 's/INTERFACESv4=\"\"/INTERFACESv4=\"wlan0\"/' /etc/default/isc-dhcp-server
-
-
-echo "\033[0;31m\033[1m$(date) | #6 Write dhcp declaration subnet to /etc/dhcp/dhcpd.conf\033[0m\033[0m"
-
-
-echo "subnet 192.168.11.0 netmask 255.255.255.0 {
-  range 192.168.11.11 192.168.11.254;
-  #option domain-name-servers 8.8.8.8;
-  #option domain-name "rpi.local";
-  option routers 192.168.11.1;
-  option broadcast-address 192.168.11.255;
-  default-lease-time 600;
-  max-lease-time 7200;
-}" >> /etc/dhcp/dhcpd.conf
-
-
-
-echo "\033[0;31m\033[1m$(date) | #7 Write start script for dhcpd to /etc/network/if-up.d/isc-dhcp-server\033[0m\033[0m"
-
-echo "#!/bin/sh
-if [ \"\$IFACE\" = \"--all\" ];
-then sleep 10 && systemctl start isc-dhcp-server.service &
-fi
-" > /etc/network/if-up.d/isc-dhcp-server \
-  && chmod +x /etc/network/if-up.d/isc-dhcp-server
-
-
-
-echo "\033[0;31m\033[1m$(date) | #8 Write magic script for rename SSID to /etc/rc.local\033[0m\033[0m"
-
-RENAME_SSID="sudo sed -i.OLD \"s/CLEVER/CLEVER-\$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)/g\" /etc/wpa_supplicant/wpa_supplicant.conf && sudo sed -i '/sudo sed/d' /etc/rc.local && sudo reboot"
-
-
-sed -i "19a$RENAME_SSID" /etc/rc.local
-
-
-echo "\033[0;31m\033[1m$(date) | #9 Setup vim"
-
-echo "set mouse-=a
-syntax on
-" > /home/pi/.vimrc
-
-
-
-echo "\033[0;31m\033[1m$(date) | #9 End of install programs\033[0m\033[0m"
-
diff --git a/image/ros.sh b/image/ros.sh
deleted file mode 100755
index cc7dd393e..000000000
--- a/image/ros.sh
+++ /dev/null
@@ -1,193 +0,0 @@
-#!/bin/sh
-
-set -e
-
-##################################################################################################################################
-# ROS for user pi
-##################################################################################################################################
-
-# ros http://wiki.ros.org/action/fullsearch/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
-# maintainer @urpylka
-
-echo "\033[0;31m\033[1m$(date) | #0 Install ROS\033[0m\033[0m"
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #1 Install dirmngr & add key to apt-key\033[0m\033[0m"
-
-# по умолчанию dirmngr отсуствует на образе и требуется для установки ключа
-# http://wpblogger.su/tags/apt/
-apt-get install dirmngr
-# setup keys
-apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
-
-# setup sources.list
-echo "deb http://packages.ros.org/ros/ubuntu stretch main" > /etc/apt/sources.list.d/ros-latest.list
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #2 apt update && apt upgrade\033[0m\033[0m"
-
-# install bootstrap tools
-apt-get update
-# && apt upgrade -y
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #3 Install wget, unzip, python-rosdep, python-rosinstall-generator, python-wstool, python-rosinstall, build-essential, cmake\033[0m\033[0m"
-
-apt-get install --no-install-recommends -y \
-  wget \
-  unzip \
-  python-rosdep \
-  python-rosinstall-generator \
-  python-wstool \
-  python-rosinstall \
-  build-essential \
-  cmake \
-  libjpeg8-dev
-
-
-
-echo "\033[0;31m\033[1m$(date) | #4 rosdep init && rosdep update\033[0m\033[0m"
-
-# bootstrap rosdep
-rosdep init && rosdep update
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #5 Prepare ros_comm packages to kinetic-ros_comm-wet.rosinstall\033[0m\033[0m"
-
-# create catkin workspace
-mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
-    && rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall \
-    && wstool init src kinetic-ros_comm-wet.rosinstall
-
-
-
-#echo "\033[0;31m\033[1m$(date) | #6 Install assimp-3.1.1 to /home/pi/ros_catkin_ws/external_src\033[0m\033[0m"
-
-# Unavailable Dependencies
-#mkdir -p /home/pi/ros_catkin_ws/external_src \
-#    && cd /home/pi/ros_catkin_ws/external_src \
-#    && wget http://sourceforge.net/projects/assimp/files/assimp-3.1/assimp-3.1.1_no_test_models.zip/download -O assimp-3.1.1_no_test_models.zip \
-#    && unzip assimp-3.1.1_no_test_models.zip \
-#    && cd assimp-3.1.1 \
-#    && cmake . -Wattributes \
-#    && make \
-#    && make install
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #7 Prepare other ROS-packages to kinetic-custom_ros.rosinstall\033[0m\033[0m"
-
-cd /home/pi/ros_catkin_ws \
-  && rosinstall_generator \
-  actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras \
-  --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
-  && wstool merge -t src kinetic-custom_ros.rosinstall \
-  && wstool update -t src
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #8 Install dependencies apps with rosdep\033[0m\033[0m"
-
-# как я понял установка apt-get всяких зависимостей для ros-пакетов
-# Resolving Dependencies with rosdep
-cd /home/pi/ros_catkin_ws \
-  && rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:stretch
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #9 Refactor usb_cam in SRC\033[0m\033[0m"
-
-# добавление префикса с помощью двух define
-# #define PIX_FMT_RGB24 AV_PIX_FMT_RGB24
-# #define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P
-
-sed -i '/#define __STDC_CONSTANT_MACROS/a\#define PIX_FMT_RGB24 AV_PIX_FMT_RGB24\n#define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P' /home/pi/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp
-
-
-
-echo "\033[0;31m\033[1m$(date) | #10 Install GeographicLib datasets\033[0m\033[0m"
-
-/home/pi/ros_catkin_ws/src/mavros/mavros/scripts/install_geographiclib_datasets.sh
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #11 Build light packages on 2 threads\033[0m\033[0m"
-
-# Building the catkin Workspace
-cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j2 --pkg actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs xmlrpcpp
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #12 Build heavy packages\033[0m\033[0m"
-
-# Building the catkin Workspace
-cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic -j1 --pkg mavros opencv3 cv_bridge cv_camera mavros_extras web_video_server
-
-
-
-echo "\033[0;31m\033[1m$(date) | #13 Create catkin_ws\033[0m\033[0m"
-
-mkdir -p /home/pi/catkin_ws/src \
-  && cd /home/pi/catkin_ws \
-  && . /opt/ros/kinetic/setup.sh \
-  && catkin init \
-  && wstool init /home/pi/catkin_ws/src
-
-
-
-
-echo "\033[0;31m\033[1m$(date) | #14 Install CLEVER-BUNDLE\033[0m\033[0m"
-
-cd /home/pi/catkin_ws/src \
-  && git clone https://github.com/CopterExpress/clever.git clever \
-  && pip install wheel \
-  && pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
-  && cd /home/pi/catkin_ws \
-  && . /opt/ros/kinetic/setup.sh \
-  && catkin_make -j1 \
-  && systemctl enable /home/pi/catkin_ws/src/clever/deploy/roscore.service \
-  && systemctl enable /home/pi/catkin_ws/src/clever/deploy/clever.service
-
-
-
-echo "\033[0;31m\033[1m$(date) | #15 Add mjpg-streamer at /home/pi\033[0m\033[0m"
-
-# https://github.com/jacksonliam/mjpg-streamer
-
-cd /home/pi \
-  && git clone https://github.com/jacksonliam/mjpg-streamer.git \
-  && cd /home/pi/mjpg-streamer/mjpg-streamer-experimental \
-  && make \
-  && make install
-
-
-
-echo "\033[0;31m\033[1m$(date) | #16 Add ENV vars\033[0m\033[0m"
-
-# setup environment
-echo "LANG=C.UTF-8" >> /home/pi/.bashrc
-echo "LC_ALL=C.UTF-8" >> /home/pi/.bashrc
-echo "ROS_DISTRO=kinetic" >> /home/pi/.bashrc
-echo "export ROS_IP=192.168.11.1" >> /home/pi/.bashrc
-
-echo "source /opt/ros/kinetic/setup.bash" >> /home/pi/.bashrc \
-  && echo "source /home/pi/catkin_ws/devel/setup.bash" >> /home/pi/.bashrc
-
-chown -Rf pi:pi /home/pi
-
-
-
-echo "\033[0;31m\033[1m$(date) | #17 END of ROS INSTALLATION\033[0m\033[0m"
diff --git a/image/git_release.py b/image_builder/git_release.py
similarity index 89%
rename from image/git_release.py
rename to image_builder/git_release.py
index e434aba57..096eabaab 100755
--- a/image/git_release.py
+++ b/image_builder/git_release.py
@@ -2,7 +2,7 @@
 
 #
 # Simple github release body-editor
-# Smirnov Artem @urpylka
+# @urpylka Artem Smirnov
 #
 # Use:
 # python git_release.py CONFIG_FILE RELEASE_ID RELEASE_BODY
@@ -13,7 +13,8 @@
 import requests, sys, urllib
 
 def json_wrapper(image_name, image_link, image_size, old_text):
-    old_text = urllib.unquote_plus(old_text)
+    # Don't need for Jenkins plugin
+    #old_text = urllib.unquote_plus(old_text)
     buffer = "### Download\n* [" + image_name + ".zip](" + image_link + ") (" + image_size + ")\n\n" + old_text
     js = {}
     js["body"] = buffer
diff --git a/image/image-config.sh b/image_builder/image_config.sh
similarity index 52%
rename from image/image-config.sh
rename to image_builder/image_config.sh
index 500282d55..641bb331b 100755
--- a/image/image-config.sh
+++ b/image_builder/image_config.sh
@@ -1,51 +1,42 @@
-#!/bin/sh
+#!/bin/bash
 
+# Exit immidiately on non-zero result
 set -e
 
 #
 # Script for image configure
-# @smirart Smirnov Artem
+# @urpylka Artem Smirnov
+# @dvornikov-aa Andrey Dvornikov
 #
 
-
-# PREFIX_PATH=/mnt
-# IMAGE=/home/pi/2017-11-29-raspbian-stretch-lite.img
-# 
-# # blkid
-# UUID_BOOT=CDD4-B453
-# UUID_ROOTFS=72bfc10d-73ec-4d9e-a54a-1cc507ee7ed2
-# 
-# # /dev/disk/by-label/boot
-# DEV_BOOT=/dev/disk/by-uuid/$UUID_BOOT
-# # /dev/disk/by-label$2
-# DEV_ROOTFS=/dev/disk/by-uuid/$UUID_ROOTFS
-
-
 get_image() {
 
-# STATIC
-# TEMPLATE: get_image $BUILD_DIRECTORY $RPI_ZIP_NAME $RPI_DONWLOAD_URL $RPI_IMAGE_NAME $IMAGE_NAME
-
-  echo 'Download RaspbianOS'
-  echo "$(date) | 1. Download raspbian lite"
-  if [ ! -e "$1/$2" ];
-  then wget -nv -O $1/$2 $3
-  fi
-  echo "$(date) | Downloading complete"
-  echo 'Unzip image'
-  echo "$(date) | 2. Unzip raspbian lite"
-  if [ ! -e "$1/$4" ];
-  then unzip -uo $1/$2 -d $1
+# STATIC FUNCTION
+# TEMPLATE: get_image $BUILD_DIR $RPI_DONWLOAD_URL $IMAGE_NAME
+
+  local RPI_ZIP_NAME=$(basename $2)
+  if [ ! -e "$1/$RPI_ZIP_NAME" ];
+  then
+    echo "$(date) | 1. Downloading original Linux distribution"
+    wget -nv -O $1/$RPI_ZIP_NAME $2
+    echo "$(date) | Downloading complete"
+  else
+    echo "$(date) | 1. Linux distribution already donwloaded"
   fi
-  echo "$(date) | Unziping complete"
-  echo 'Duplicate image'
-  cp -f $1/$4 $1/$5
+  echo "$(date) | 2. Unzipping Linux distribution image"
+  local RPI_IMAGE_NAME=$(echo $RPI_ZIP_NAME | sed 's/zip/img/')
+  unzip -p $1/$RPI_ZIP_NAME $RPI_IMAGE_NAME > $1/$IMAGE_NAME
+  echo "$(date) | Unzipping complete"
 }
 
 resize_fs() {
 
-  # STATIC
-  # TEMPLATE: resize_fs $SIZE $BUILD_DIRECTORY $IMAGE_NAME $DEV_ROOTFS
+  # STATIC FUNCTION
+  # TEMPLATE: resize_fs $SIZE $BUILD_DIR $IMAGE_NAME
+
+  # Partitions numbers
+  local BOOT_PARTITION=1
+  local ROOT_PARTITION=2
 
   set +e
 
@@ -63,53 +54,65 @@ resize_fs() {
   # ", +" : расширяет раздел до размеров образа
   # -N 2  : выбирает раздел 2 для работы
 
-  echo "\033[0;31m\033[1mTruncate image\033[0m\033[0m" \
+  # There is a risk that sfdisk will ask for a disk remount to update partition table
+  # TODO: Check sfdisk exit code
+
+  echo -e "\033[0;31m\033[1mTruncate image\033[0m\033[0m" \
     && truncate -s$1 $2/$3 \
     && echo "Mount loop-image: $2/$3" \
     && local DEV_IMAGE=$(losetup -Pf $2/$3 --show) \
     && sleep 0.5 \
-    && echo "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m" \
+    && echo -e "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m" \
     && echo ", +" | sfdisk -N 2 $DEV_IMAGE \
     && sleep 0.5 \
-    && echo "\033[0;31m\033[1mCheck & repair filesystem after expand partition\033[0m\033[0m" \
-    && e2fsck -fvy $4 \
-    && echo "\033[0;31m\033[1mExpand filesystem\033[0m\033[0m" \
-    && resize2fs $4 \
-    && echo "\033[0;31m\033[1mUmount loop-image\033[0m\033[0m" \
+    && losetup -d $DEV_IMAGE \
+    && sleep 0.5 \
+    && local DEV_IMAGE=$(losetup -Pf $2/$3 --show) \
+    && sleep 0.5 \
+    && echo -e "\033[0;31m\033[1mCheck & repair filesystem after expand partition\033[0m\033[0m" \
+    && e2fsck -fvy "${DEV_IMAGE}p${ROOT_PARTITION}" \
+    && echo -e "\033[0;31m\033[1mExpand filesystem\033[0m\033[0m" \
+    && resize2fs "${DEV_IMAGE}p${ROOT_PARTITION}" \
+    && echo -e "\033[0;31m\033[1mUmount loop-image\033[0m\033[0m" \
     && losetup -d $DEV_IMAGE
 
   set -e
 }
 
-publish_image() {
+publish_image_python() {
 
-# STATIC
-# TEMPLATE: publish_image $BUILD_DIRECTORY $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY
+# STATIC FUNCTION
+# TEMPLATE: publish_image_python $BUILD_DIR $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY
 
 # https://developer.github.com/v3/repos/releases/
 #RELEASE_BODY="### Changelog\n* Add /boot/cmdline.txt net.ifnames=0 https://www.freedesktop.org/wiki/Software/systemd/PredictableNetworkInterfaceNames/\n* Updated cophelper\n* Installed copstat"
 
   echo 'Zip image' \
-    && zip $1/$2.zip $1/$2 \
-    && echo 'Upload image' \
-    && local IMAGE_LINK=$($3/image/yadisk.py $1/$4 $1/$2.zip) \
+    && if [ ! -e "$1/$2.zip" ];
+    then zip $1/$2.zip $1/$2
+    fi
+  echo 'Upload image' \
+    && local IMAGE_LINK=$($3/image_builder/yadisk.py $1/$4 $1/$2.zip) \
     && local IMAGE_SIZE=$(du -sh $1/$2.zip | awk '{ print $1 }') \
     && echo "Make downloads in GH-release" \
-    && $3/image/git_release.py $1/$4 $5 $6 $2 $IMAGE_LINK $IMAGE_SIZE
+    && $3/image_builder/git_release.py $1/$4 $5 $6 $2 $IMAGE_LINK $IMAGE_SIZE
+#    echo "Fake publish"
 }
 
-publish_image2() {
+publish_image_bash() {
 
-# STATIC
-# TEMPLATE: publish_image $BUILD_DIRECTORY $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY
+# STATIC FUNCTION
+# TEMPLATE: publish_image_bash $BUILD_DIR $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY
 
 # https://developer.github.com/v3/repos/releases/
 #RELEASE_BODY="### Changelog\n* Add /boot/cmdline.txt net.ifnames=0 https://www.freedesktop.org/wiki/Software/systemd/PredictableNetworkInterfaceNames/\n* Updated cophelper\n* Installed copstat"
 
   echo 'Zip image' \
-    && zip $1/$2.zip $1/$2 \
-    && echo 'Upload image' \
-    && local IMAGE_LINK=$($3/image/yadisk.py $1/$4 $1/$2.zip) \
+    && if [ ! -e "$1/$2.zip" ];
+    then zip $1/$2.zip $1/$2
+    fi
+  echo 'Upload image' \
+    && local IMAGE_LINK=$($3/image_builder/yadisk.py $1/$4 $1/$2.zip) \
     && local IMAGE_SIZE=$(du -sh $1/$2.zip | awk '{ print $1 }') \
     && local NEW_RELEASE_BODY="### Download\n* [$2.zip]($IMAGE_LINK) ($IMAGE_SIZE)\n\n$6" \
     && local DATA="{ \"body\":\"$NEW_RELEASE_BODY\" }" \
@@ -118,17 +121,17 @@ publish_image2() {
 
 burn_image() {
 
-# STATIC
+# STATIC FUNCTION
 # TEMPLATE: burn_image $IMAGE_PATH $MICROSD_DEV
 
-  echo "\033[0;31m\033[1mBurn image\033[0m\033[0m" \
+  echo -e "\033[0;31m\033[1mBurn image\033[0m\033[0m" \
     && dd if=$1 of=$2 \
-    && echo "\033[0;31m\033[1mBurn image finished!\033[0m\033[0m"
+    && echo -e "\033[0;31m\033[1mBurn image finished!\033[0m\033[0m"
 }
 
 burn_and_reboot() {
 
-# STATIC
+# STATIC FUNCTION
 # TEMPLATE: burn_and_reboot $IMAGE_PATH $MICROSD_DEV
 
   burn_image $1 $2 \
@@ -137,8 +140,12 @@ burn_and_reboot() {
 
 mount_system() {
 
-  # STATIC
-  # TEMPLATE: mount_system $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT
+  # STATIC FUNCTION
+  # TEMPLATE: mount_system $IMAGE $MOUNT_POINT
+
+  # Partitions numbers
+  local BOOT_PARTITION=1
+  local ROOT_PARTITION=2
 
   # https://www.stableit.ru/2011/05/losetup.html
   # -f     : losetup выбирает незанятое имя устройства, например /dev/loop2
@@ -146,40 +153,41 @@ mount_system() {
   #          например /dev/loop0p1 и /dev/loop0p2
   # --show : печатает имя устройства, например /dev/loop4
 
-  echo "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m"
-  DEV_IMAGE=$(losetup -Pf $1 --show)
+  echo -e "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m"
+  local DEV_IMAGE=$(losetup -Pf $1 --show)
   sleep 0.5
 
-  echo "\033[0;31m\033[1mMount dirs $2 & $2/boot\033[0m\033[0m"
-  mount $3 $2
-  mount $4 $2/boot
+  echo -e "\033[0;31m\033[1mMount dirs $2 & $2/boot\033[0m\033[0m"
+  #mount $3 $2
+  #mount $4 $2/boot
+  mount "${DEV_IMAGE}p${ROOT_PARTITION}" $2
+  mount "${DEV_IMAGE}p${BOOT_PARTITION}" $2/boot
 
-  echo "\033[0;31m\033[1mBind system dirs\033[0m\033[0m"
+  echo -e "\033[0;31m\033[1mBind system dirs\033[0m\033[0m"
   # https://github.com/debian-pi/raspbian-ua-netinst/issues/314
   echo "Mounting /proc in chroot... "
   if [ ! -d $2/proc ] ; then
-      mkdir -p $2/proc
-      echo "Created $2/proc"
+    mkdir -p $2/proc \
+      && echo "Created $2/proc"
   fi
-  mount -t proc -o nosuid,noexec,nodev proc $2/proc
-  echo "OK"
+  mount -t proc -o nosuid,noexec,nodev proc $2/proc \
+    && echo "OK"
   
   echo "Mounting /sys in chroot... "
   if [ ! -d $2/sys ] ; then
-      mkdir -p $2/sys
-      echo "Created $2/sys"
+    mkdir -p $2/sys \
+      && echo "Created $2/sys"
   fi
-  mount -t sysfs -o nosuid,noexec,nodev sysfs $2/sys
-  echo "OK"
+  mount -t sysfs -o nosuid,noexec,nodev sysfs $2/sys \
+    && echo "OK"
   
-  echo "Mounting /dev/ and /dev/pts in chroot... "
-  mkdir -p -m 755 $2/dev/pts
-  mount -t devtmpfs -o mode=0755,nosuid devtmpfs $2/dev
-  mount -t devpts -o gid=5,mode=620 devpts $2/dev/pts
+  echo "Mounting /dev/ and /dev/pts in chroot... " \
+    && mkdir -p -m 755 $2/dev/pts \
+    && mount -t devtmpfs -o mode=0755,nosuid devtmpfs $2/dev \
+    && mount -t devpts -o gid=5,mode=620 devpts $2/dev/pts \
+    && echo "OK"
   # mount -t devpts none "$2/dev/pts" -o ptmxmode=0666,newinstance
   # ln -fs "pts/ptmx" "$2/dev/ptmx"
-  echo "OK"
-
 
   # mount -o bind /dev $2/dev
   # mount -t proc proc $2/proc
@@ -189,8 +197,8 @@ mount_system() {
   # mount -t sysfs sys $2/sys
   # mount --bind /dev $2/dev
 
-  echo "\033[0;31m\033[1mCopy DNS records\033[0m\033[0m"
-  cp -L /etc/resolv.conf $2/etc/resolv.conf
+  echo -e "\033[0;31m\033[1mCopy DNS records\033[0m\033[0m" \
+    && cp -L /etc/resolv.conf $2/etc/resolv.conf
 
   # https://wiki.archlinux.org/index.php/Change_root_(%D0%A0%D1%83%D1%81%D1%81%D0%BA%D0%B8%D0%B9)
   # http://www.unix-lab.org/posts/chroot/
@@ -198,73 +206,106 @@ mount_system() {
   # https://losst.ru/vosstanovlenie-grub2
   # http://unixteam.ru/content/virtualizaciya-ili-zapuskaem-prilozhenie-v-chroot-okruzhenii-razmyshleniya
   # http://help.ubuntu.ru/wiki/%D0%B2%D0%BE%D1%81%D1%81%D1%82%D0%B0%D0%BD%D0%BE%D0%B2%D0%BB%D0%B5%D0%BD%D0%B8%D0%B5_grub
-  echo "\033[0;31m\033[1mEnter chroot\033[0m\033[0m"
-  chroot $2 /bin/bash
+  echo -e "\033[0;31m\033[1mEnter chroot\033[0m\033[0m" \
+    && chroot $2 /bin/bash
+
+  umount_system $2 $DEV_IMAGE
 }
 
-mount_system2() {
+execute() {
 
-  # STATIC
-  # TEMPLATE: mount_system2 $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $EXECUTE_FILE
+  # STATIC FUNCTION
+  # TEMPLATE: execute $IMAGE $MOUNT_POINT $EXECUTE_FILE ...
 
-  echo "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m"
-  DEV_IMAGE=$(losetup -Pf $1 --show)
+  # Partitions numbers
+  local BOOT_PARTITION=1
+  local ROOT_PARTITION=2
+
+  echo -e "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m"
+  local DEV_IMAGE=$(losetup -Pf $1 --show)
   sleep 0.5
 
-  echo "\033[0;31m\033[1mMount dirs $2 & $2/boot\033[0m\033[0m"
-  mount $3 $2
-  mount $4 $2/boot
+  echo -e "\033[0;31m\033[1mMount dirs $2 & $2/boot\033[0m\033[0m"
+  mount "${DEV_IMAGE}p${ROOT_PARTITION}" $2
+  mount "${DEV_IMAGE}p${BOOT_PARTITION}" $2/boot
 
-  echo "\033[0;31m\033[1mBind system dirs\033[0m\033[0m"
+  echo -e "\033[0;31m\033[1mBind system dirs\033[0m\033[0m"
   echo "Mounting /proc in chroot... "
   if [ ! -d $2/proc ] ; then
-      mkdir -p $2/proc
-      echo "Created $2/proc"
+    mkdir -p $2/proc
+    echo "Created $2/proc"
   fi
-  mount -t proc -o nosuid,noexec,nodev proc $2/proc
-  echo "OK"
-  
+  mount -t proc -o nosuid,noexec,nodev proc $2/proc \
+    && echo "OK"
+
   echo "Mounting /sys in chroot... "
   if [ ! -d $2/sys ] ; then
-      mkdir -p $2/sys
-      echo "Created $2/sys"
+    mkdir -p $2/sys
+    echo "Created $2/sys"
   fi
-  mount -t sysfs -o nosuid,noexec,nodev sysfs $2/sys
-  echo "OK"
-  
-  echo "Mounting /dev/ and /dev/pts in chroot... "
-  mkdir -p -m 755 $2/dev/pts
-  mount -t devtmpfs -o mode=0755,nosuid devtmpfs $2/dev
-  mount -t devpts -o gid=5,mode=620 devpts $2/dev/pts
-  echo "OK"
-
-  echo "\033[0;31m\033[1mCopy DNS records\033[0m\033[0m"
-  cp -L /etc/resolv.conf $2/etc/resolv.conf
-
-  echo "\033[0;31m\033[1m$(date) | Enter chroot\033[0m\033[0m"
-  chroot $2 /bin/sh -c "$5"
+  mount -t sysfs -o nosuid,noexec,nodev sysfs $2/sys \
+    && echo "OK"
+
+  echo "Mounting /dev/ and /dev/pts in chroot... " \
+    && mkdir -p -m 755 $2/dev/pts \
+    && mount -t devtmpfs -o mode=0755,nosuid devtmpfs $2/dev \
+    && mount -t devpts -o gid=5,mode=620 devpts $2/dev/pts \
+    && echo "OK"
+
+  echo -e "\033[0;31m\033[1mCopy DNS records\033[0m\033[0m" \
+    && cp -L /etc/resolv.conf $2/etc/resolv.conf
+
+  echo -e "\033[0;31m\033[1m$(date) | Enter chroot\033[0m\033[0m"
+  script_name=$(basename $3)
+  script_path_root="$2/root/$script_name"
+  # Copy script into chroot fs
+  # TODO: Find more suitable location for temporary script storage
+  cp "$3" "$script_path_root"
+  # Its important to save arguments (direct ${@:4} causes problems)
+  script_args="${@:4}"
+  # Run script in chroot with additional arguments
+  chroot $2 /bin/sh -c "/root/$script_name $script_args"
+  # Removing script from chroot fs
+  rm "$script_path_root"
+
+  umount_system $2 $DEV_IMAGE
 }
 
 umount_system() {
 
-  # STATIC
-  # TEMPLATE: umount_system $PREFIX_PATH
-
-  echo "\033[0;31m\033[1m$(date) | Umount recursive dirs: $1\033[0m\033[0m"
-  umount -fR $1
-  echo "\033[0;31m\033[1m$(date) | Umount loop-image\033[0m\033[0m"
-  losetup -d $DEV_IMAGE
-}
-
-umount_system2() {
+  # STATIC FUNCTION
+  # TEMPLATE: umount_system $MOUNT_POINT $DEV_IMAGE
 
-  # STATIC
-  # TEMPLATE: umount_system $PREFIX_PATH
-  
-  echo "\033[0;31m\033[1m$(date) | Umount recursive dirs: $1\033[0m\033[0m"
-  umount -fR $1
-  echo "\033[0;31m\033[1m$(date) | Umount loop-image\033[0m\033[0m"
-  losetup -D
+  echo -e "\033[0;31m\033[1m$(date) | Umount recursive dirs: $1\033[0m\033[0m"
+  # There is a risk that umount will fail
+  set +e
+  # Successfull unmount flag (false at thismoment)
+  umount_ok=false
+  # Repeat 5 times
+  for i in {1..5}
+  do
+    # Unmount chroot rootfs and boot partition
+    umount -fR $1
+    # If no problems detected
+    if [[ $? == 0 ]]
+    then
+    echo -e "\033[0;31m\033[1m$(date) | Successfull unmount\033[0m\033[0m"
+    # Set flag
+    umount_ok=true
+    # Exit loop
+    break
+    fi
+    # Unmount has failed
+    echo -e "\033[0;31m\033[1m$(date) | Unmount failed\033[0m\033[0m"
+    # Wait for some time
+    sleep 2
+  done
+  set -e
+  # Jenkins job will fail if this condition is not true
+  [[ "$umount_ok" == true ]]
+  echo -e "\033[0;31m\033[1m$(date) | Umount loop-image\033[0m\033[0m"
+  #losetup -d $DEV_IMAGE
+  losetup -d $2
 }
 
 set_config_var() {
@@ -291,20 +332,23 @@ EOF
 
 configure_system() {
 
-  # STATIC
-  # TEMPLATE: configure_system $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT
+  # TEMPLATE: configure_system $IMAGE $MOUNT_POINT $ROOT_PARTITON $BOOT_PARTITION
 
   local BLACKLIST=/etc/modprobe.d/raspi-blacklist.conf
   local CONFIG=/boot/config.txt
 
+  # Partitions numbers
+  local BOOT_PARTITION=1
+  local ROOT_PARTITION=2
+
   BLACKLIST=$2$BLACKLIST
   CONFIG=$2$CONFIG
 
   # 1. Примонитровать образ
 
   # https://raspberrypi.stackexchange.com/questions/13137/how-can-i-mount-a-raspberry-pi-linux-distro-image
-  # mount -v -o offset=48234496 -t ext4 2017-11-29-raspbian-stretch-lite.img $PREFIX_PATH
-  # mount -v -o offset=4194304,sizelimit=29360128 -t vfat 2017-11-29-raspbian-stretch-lite.img $PREFIX_PATH/boot
+  # mount -v -o offset=48234496 -t ext4 2017-11-29-raspbian-stretch-lite.img $MOUNT_POINT
+  # mount -v -o offset=4194304,sizelimit=29360128 -t vfat 2017-11-29-raspbian-stretch-lite.img $MOUNT_POINT/boot
   #
   # fdisk -l 2017-11-29-raspbian-stretch-lite.img
   # https://www.stableit.ru/2011/05/losetup.html
@@ -312,25 +356,25 @@ configure_system() {
   # -P     : losetup монтирует разделы в образе как отдельные подразделы,
   #          например /dev/loop0p1 и /dev/loop0p2
   # --show : печатает имя устройства, например /dev/loop4
-  echo "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m"
+  echo -e "\033[0;31m\033[1mMount loop-image: $1\033[0m\033[0m"
   DEV_IMAGE=$(losetup -Pf $1 --show)
   sleep 0.5
 
-  echo "\033[0;31m\033[1mMount dirs $2 & $2/boot\033[0m\033[0m"
-  mount $3 $2
-  mount $4 $2/boot
+  echo -e "\033[0;31m\033[1mMount dirs $2 & $2/boot\033[0m\033[0m"
+  mount ${DEV_IMAGE}p${ROOT_PARTITION} $2
+  mount ${DEV_IMAGE}p${BOOT_PARTITION} $2/boot
 
   # 2. Изменить необходимые настройки
 
   #   2.1. Включить sshd
-  echo "\033[0;31m\033[1mTurn on sshd\033[0m\033[0m"
+  echo -e "\033[0;31m\033[1mTurn on sshd\033[0m\033[0m"
   touch $2/boot/ssh
 
   #   2.2. Включить GPIO
   # Включено по умолчанию
 
   #   2.3. Включить I2C
-  echo "\033[0;31m\033[1mTurn on I2C\033[0m\033[0m"
+  echo -e "\033[0;31m\033[1mTurn on I2C\033[0m\033[0m"
 
   set_config_var dtparam=i2c_arm on $CONFIG &&
     if ! [ -e $BLACKLIST ]; then
@@ -343,7 +387,7 @@ configure_system() {
     fi
 
   #   2.4. Включить SPI
-  echo "\033[0;31m\033[1mTurn on SPI\033[0m\033[0m"
+  echo -e "\033[0;31m\033[1mTurn on SPI\033[0m\033[0m"
 
   set_config_var dtparam=spi on $CONFIG &&
     if ! [ -e $BLACKLIST ]; then
@@ -359,13 +403,13 @@ configure_system() {
   #   2.8. Настроить DHCPd на wlan
 
   # Отмонтировать образ
-  umount_system $2
+  umount_system $2 $DEV_IMAGE
 }
 
 
 prepare_fs() {
 
-  # STATIC
+  # STATIC FUNCTION
   # TEMPLATE: prepare_fs $IMAGE $SIZE
 
   date
@@ -381,11 +425,11 @@ prepare_fs() {
 
 install_docker() {
 
-  # STATIC
-  # TEMPLATE: install_docker $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT
+  # STATIC FUNCTION
+  # TEMPLATE: install_docker $IMAGE $MOUNT_POINT $DEV_ROOTFS $DEV_BOOT
 
   # https://askubuntu.com/questions/485567/unexpected-end-of-file
-  mount_system $1 $2 $3 $4 << EOF
+  mount_system $1 $2 << EOF
 #!/bin/bash
 # https://www.raspberrypi.org/blog/docker-comes-to-raspberry-pi/
 curl -sSL https://get.docker.com | sh
@@ -395,15 +439,14 @@ service docker start
 docker pull smirart/rpi-ros:sshd
 docker run -di --restart unless-stopped -p 192.168.0.121:2202:22 -t smirart/rpi-ros:sshd
 EOF
-  umount_system $2
 }
 
 test_docker() {
 
-  # STATIC
-  # TEMPLATE: test_docker $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT
+  # STATIC FUNCTION
+  # TEMPLATE: test_docker $IMAGE $MOUNT_POINT
 
-  mount_system $1 $2 $3 $4 << EOF
+  mount_system $1 $2 << EOF
 #!/bin/bash
 # https://www.raspberrypi.org/blog/docker-comes-to-raspberry-pi/
 service docker start
@@ -411,28 +454,8 @@ sleep 1
 docker images
 docker ps -a
 EOF
-  umount_system $2
 }
 
-enter() {
-
-  # STATIC
-  # TEMPLATE: enter $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT
-
-  mount_system $1 $2 $3 $4
-  umount_system $2
-}
-
-execute() {
-
-  # STATIC
-  # TEMPLATE: execute $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $EXECUTE_FILE
-
-  mount_system2 $1 $2 $3 $4 "$(cat $5)"
-  umount_system2 $2
-}
-
-
 # очистить history
 # https://askubuntu.com/questions/191999/how-to-clear-bash-history-completely
 # cat /dev/null > ~/.bash_history && history -c && exit
@@ -455,7 +478,6 @@ then echo "" \
   && exit 1
 fi
 
-
 echo "\$#: $#"
 echo "\$1: $1"
 echo "\$2: $2"
@@ -472,24 +494,24 @@ echo "\$7: $7"
 # configure_system
 
 case "$1" in
-  enter) # enter $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT
-    enter $2 $3 $4 $5;;
+  mount_system) # mount_system $IMAGE $MOUNT_POINT
+    mount_system $2 $3;;
 
-  get_image) # get_image $BUILD_DIRECTORY $RPI_ZIP_NAME $RPI_DONWLOAD_URL $RPI_IMAGE_NAME $IMAGE_NAME
-    get_image $2 $3 $4 $5 $6;;
+  get_image) # get_image $BUILD_DIR $RPI_DONWLOAD_URL $IMAGE_NAME
+    get_image $2 $3 $4;;
 
-  resize_fs) # resize_fs $SIZE $BUILD_DIRECTORY $IMAGE_NAME $DEV_ROOTFS
+  resize_fs) # resize_fs $SIZE $BUILD_DIR $IMAGE_NAME
     resize_fs $2 $3 $4 $5;;
 
-  publish_image) # publish_image $BUILD_DIRECTORY $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY
-    publish_image $2 $3 $4 $5 $6 $7;;
+  publish_image) # publish_image_python $BUILD_DIR $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY
+    publish_image_python $2 $3 $4 $5 $6 $7;;
 
-  publish_image2) # publish_image2 $BUILD_DIRECTORY $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY
-    publish_image2 $2 $3 $4 $5 $6 $7;;
+  publish_image_bash) # publish_image_bash $BUILD_DIR $IMAGE_NAME $WORKSPACE $CONFIG_FILE $RELEASE_ID $RELEASE_BODY
+    publish_image_bash $2 $3 $4 $5 $6 $7;;
 
-  execute) # execute $IMAGE $PREFIX_PATH $DEV_ROOTFS $DEV_BOOT $EXECUTE_FILE
-    execute $2 $3 $4 $5 $6;;
+  execute) # execute $IMAGE $MOUNT_POINT $EXECUTE_FILE ...
+    execute $2 $3 $4 ${@:5};;
 
   *)
-    echo "Enter one of: enter, get_image, resize_fs, publish_image, execute";;
+    echo "Enter one of: mount_system, get_image, resize_fs, publish_image, execute";;
 esac
diff --git a/image_builder/jenkinsfile-build b/image_builder/jenkinsfile-build
new file mode 100644
index 000000000..763cc88a0
--- /dev/null
+++ b/image_builder/jenkinsfile-build
@@ -0,0 +1,76 @@
+pipeline {
+  agent any
+  parameters {
+    string(name: 'IMAGE_NAME', defaultValue: 'clever_noname.img', description: 'Output image file name')
+    string(name: 'GWBT_RELEASE_TAG_NAME', defaultValue: "master", description: 'Release tag name')
+    string(name: 'IMAGE_VERSION', defaultValue: "${params.GWBT_RELEASE_TAG_NAME}", description: 'Image version')
+
+    string(name: 'BUILD_DIR', defaultValue: '/mnt/hdd_builder/workspace', description: 'Build workspace')
+    string(name: 'MOUNT_POINT', defaultValue: '/mnt/hdd_builder/image', description: 'Mount point')
+
+    string(name: 'RPI_DONWLOAD_URL', defaultValue: 'https://downloads.raspberrypi.org/raspbian_lite/images/raspbian_lite-2017-12-01/2017-11-29-raspbian-stretch-lite.zip')
+    // TODO: Add mirrorparameters
+  }
+  environment {
+    DEBIAN_FRONTEND = 'noninteractive'
+    LANG = 'C.UTF-8'
+    LC_ALL = 'C.UTF-8'
+  }
+  stages {
+    stage('Get image') {
+      steps {
+        sh "$WORKSPACE/image_builder/image_config.sh get_image ${params.BUILD_DIR} ${params.RPI_DONWLOAD_URL} ${params.IMAGE_NAME}"
+      }
+    }
+    stage('Resize FS') {
+      environment {
+        SIZE = '8G'
+      }
+      steps {
+        sh "$WORKSPACE/image_builder/image_config.sh resize_fs $SIZE ${params.BUILD_DIR} ${params.IMAGE_NAME}"
+      }
+    }
+    stage('Initialize image') {
+      environment {
+        EXECUTE_FILE = 'scripts/init_image.sh'
+      }
+      // TODO: Transfer apps.sh initialisation code here
+      steps {
+        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/image_builder/$EXECUTE_FILE ${params.IMAGE_VERSION} \$(basename ${params.RPI_DONWLOAD_URL})"
+      }
+    }
+    stage('Hardware setup') {
+      environment {
+        EXECUTE_FILE = 'scripts/hardware_setup.sh'
+      }
+      steps {
+        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/image_builder/$EXECUTE_FILE"
+      }
+    }
+    stage('Software install') {
+      environment {
+        EXECUTE_FILE = 'scripts/software_install.sh'
+      }
+      steps {
+        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/image_builder/$EXECUTE_FILE"
+      }
+    }
+    stage('Network setup') {
+      environment {
+        EXECUTE_FILE = 'scripts/network_setup.sh'
+      }
+      steps {
+        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/image_builder/$EXECUTE_FILE"
+      }
+    }
+    stage('Install ROS') {
+      environment {
+        EXECUTE_FILE = 'scripts/ros_install.sh'
+      }
+      steps {
+        sh "$WORKSPACE/image_builder/image_config.sh execute ${params.BUILD_DIR}/${params.IMAGE_NAME} ${params.MOUNT_POINT} $WORKSPACE/image_builder/$EXECUTE_FILE"
+      }
+    }
+    // TODO: Add finalising step, transfer mirror removal from ros.sh
+  }
+}
diff --git a/image/Jenkinsfile-release b/image_builder/jenkinsfile-release
similarity index 65%
rename from image/Jenkinsfile-release
rename to image_builder/jenkinsfile-release
index 7305b75c9..3c402678f 100644
--- a/image/Jenkinsfile-release
+++ b/image_builder/jenkinsfile-release
@@ -4,15 +4,18 @@ pipeline {
     //string(name: 'GWBT_REPO_NAME', defaultValue: 'master', description: 'GWBT_REPO_NAME')
     //string(name: 'GWBT_RELEASE_TAG_NAME', defaultValue: 'master', description: 'REPO')
     //string(name: 'GWBT_RELEASE_PUBLISHED_AT', defaultValue: 'master', description: 'GWBT_RELEASE_PUBLISHED_AT')
-    //string(name: 'GWBT_RELEASE_ID', defaultValue: '', description: 'GWBT_RELEASE_ID')
-    //string(name: 'GWBT_RELEASE_BODY', defaultValue: '', description: 'GWBT_RELEASE_BODY')
+    string(name: 'GWBT_RELEASE_ID', defaultValue: '', description: 'GWBT_RELEASE_ID')
+    string(name: 'GWBT_RELEASE_BODY', defaultValue: '', description: 'GWBT_RELEASE_BODY')
     string(name: 'IMAGE_NAME', defaultValue: "${params.GWBT_REPO_NAME}_${params.GWBT_RELEASE_TAG_NAME}_${params.GWBT_RELEASE_PUBLISHED_AT}.img", description: 'IMAGE_NAME')
-    //string(name: 'GWBT_TRIGGER', defaultValue: '', description: 'GWBT_TRIGGER')
+    string(name: 'GWBT_TRIGGER', defaultValue: 'release', description: 'GWBT_TRIGGER')
     booleanParam(name: 'ONLY_PUBLISH', defaultValue: false, description: 'ONLY PUBLISH')
-    //string(name: 'WORKSPACE', defaultValue: '', description: 'WORKSPACE')
+
+    string(name: 'BUILD_DIR', defaultValue: '/mnt/hdd_builder/workspace', description: 'Build workspace')
   }
   environment {
-    BUILD_DIRECTORY = '/home/pi/temp'
+    DEBIAN_FRONTEND = 'noninteractive'
+    LANG = 'C.UTF-8'
+    LC_ALL = 'C.UTF-8'
   }
   stages {
     stage('Build image') {
@@ -28,7 +31,7 @@ pipeline {
         CONFIG_FILE = 'coex-ci.conf'
       }
       steps {
-        sh "$WORKSPACE/image/image-config.sh publish_image $BUILD_DIRECTORY ${params.IMAGE_NAME} $WORKSPACE $CONFIG_FILE ${params.GWBT_RELEASE_ID} ${params.GWBT_RELEASE_BODY}"
+        sh "$WORKSPACE/image_builder/image_config.sh publish_image ${params.BUILD_DIR} ${params.IMAGE_NAME} $WORKSPACE $CONFIG_FILE ${params.GWBT_RELEASE_ID} \'${params.GWBT_RELEASE_BODY}\'"
       }
     }
   }
diff --git a/image/iface.sh b/image_builder/scripts/hardware_setup.sh
similarity index 88%
rename from image/iface.sh
rename to image_builder/scripts/hardware_setup.sh
index deccb0fb3..543c06d95 100755
--- a/image/iface.sh
+++ b/image_builder/scripts/hardware_setup.sh
@@ -1,4 +1,4 @@
-#!/bin/sh
+#!/bin/bash
 
 set -e
 
@@ -43,14 +43,14 @@ CONFIG=/boot/config.txt
 # 2. Изменить необходимые настройки
 
 #   2.1. Включить sshd
-echo "\033[0;31m\033[1m$(date) | #11 Turn on sshd\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #1 Turn on sshd\033[0m\033[0m"
 touch /boot/ssh
 
 #   2.2. Включить GPIO
 # Включено по умолчанию
 
 #   2.3. Включить I2C
-echo "\033[0;31m\033[1m$(date) | #12 Turn on I2C\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #2 Turn on I2C\033[0m\033[0m"
 
 set_config_var dtparam=i2c_arm on $CONFIG &&
   if ! [ -e $BLACKLIST ]; then
@@ -63,7 +63,7 @@ set_config_var dtparam=i2c_arm on $CONFIG &&
   fi
 
 #   2.4. Включить SPI
-echo "\033[0;31m\033[1m$(date) | #13 Turn on SPI\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #3 Turn on SPI\033[0m\033[0m"
 
 set_config_var dtparam=spi on $CONFIG &&
   if ! [ -e $BLACKLIST ]; then
@@ -72,7 +72,7 @@ set_config_var dtparam=spi on $CONFIG &&
   sed $BLACKLIST -i -e "s/^\(blacklist[[:space:]]*spi[-_]bcm2708\)/#\1/"
 
 #   2.5. Включить raspicam
-echo "\033[0;31m\033[1m$(date) | #14 Turn on raspicam\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #4 Turn on raspicam\033[0m\033[0m"
 
 get_config_var() {
   lua - "$1" "$2" <<EOF
@@ -132,9 +132,4 @@ if ! grep -q "^bcm2835-v4l2" /etc/modules; then
   printf "bcm2835-v4l2\n" >> /etc/modules
 fi
 
-#   2.6. Настроить AP wifi
-#   2.7. Настроить сеть на wlan
-#   2.8. Настроить DHCPd на wlan
-
-
-echo "\033[0;31m\033[1m$(date) | #15 End of configuring interfaces\033[0m\033[0m"
+echo -e "\033[0;31m\033[1m$(date) | #5 End of configuring interfaces\033[0m\033[0m"
diff --git a/image_builder/scripts/init_image.sh b/image_builder/scripts/init_image.sh
new file mode 100755
index 000000000..f85883451
--- /dev/null
+++ b/image_builder/scripts/init_image.sh
@@ -0,0 +1,31 @@
+#!/bin/bash
+
+set -e
+
+##################################################################################################################################
+# Image initialisation
+##################################################################################################################################
+
+# Add apt key to allow local mirror usage during image build
+#wget -O - ftp://192.168.0.10/coex-mirror.gpg | apt-key add -
+# Generate a backup of the original source.list
+#cp /etc/apt/sources.list /var/sources.list.bak
+# Add the local mirror as the first priority repository
+#wget -O - ftp://192.168.0.10/coex-mirror.list 2>/dev/null | cat - /etc/apt/sources.list > /var/sources.list && mv /var/sources.list /etc/apt/sources.list
+
+echo -e "\033[0;31m\033[1m$(date) | #1 apt cache update\033[0m\033[0m"
+
+# Clean repostory cache
+apt-get clean
+# Update repository cache
+apt-get update
+# && apt upgrade -y
+
+echo -e "\033[0;31m\033[1m$(date) | #2 Write clever information\033[0m\033[0m"
+
+# Clever image version
+echo "$1" >> /etc/clever_version
+# Origin image file name
+echo "${2%.*}" >> /etc/clever_origin
+
+echo -e "\033[0;31m\033[1m$(date) | #3 End initialisation of image\033[0m\033[0m"
diff --git a/image_builder/scripts/network_setup.sh b/image_builder/scripts/network_setup.sh
new file mode 100755
index 000000000..af4941af9
--- /dev/null
+++ b/image_builder/scripts/network_setup.sh
@@ -0,0 +1,55 @@
+#!/bin/bash
+
+set -e
+
+echo -e "\033[0;31m\033[1m$(date) | #1 Write to /etc/wpa_supplicant/wpa_supplicant.conf\033[0m\033[0m"
+
+# TODO: Use wpa_cli insted direct file edit
+echo "
+network={
+    ssid=\"CLEVER\"
+    mode=2
+    key_mgmt=WPA-PSK
+    psk=\"cleverwifi\"
+    frequency=2437
+}" >> /etc/wpa_supplicant/wpa_supplicant.conf
+
+echo -e "\033[0;31m\033[1m$(date) | #2 Write STATIC to /etc/dhcpcd.conf\033[0m\033[0m"
+
+echo "
+interface wlan0
+static ip_address=192.168.11.1/24" >> /etc/dhcpcd.conf
+
+echo -e "\033[0;31m\033[1m$(date) | #3 Write iface to /etc/default/isc-dhcp-server\033[0m\033[0m"
+
+# https://www.shellhacks.com/ru/sed-find-replace-string-in-file/
+sed -i 's/INTERFACESv4=\"\"/INTERFACESv4=\"wlan0\"/' /etc/default/isc-dhcp-server
+
+echo -e "\033[0;31m\033[1m$(date) | #4 Write dhcp declaration subnet to /etc/dhcp/dhcpd.conf\033[0m\033[0m"
+
+echo "subnet 192.168.11.0 netmask 255.255.255.0 {
+  range 192.168.11.11 192.168.11.254;
+  #option domain-name-servers 8.8.8.8;
+  #option domain-name "rpi.local";
+  option routers 192.168.11.1;
+  option broadcast-address 192.168.11.255;
+  default-lease-time 600;
+  max-lease-time 7200;
+}" >> /etc/dhcp/dhcpd.conf
+
+echo -e "\033[0;31m\033[1m$(date) | #5 Write start script for dhcpd to /etc/network/if-up.d/isc-dhcp-server\033[0m\033[0m"
+
+echo "#!/bin/sh
+if [ \"\$IFACE\" = \"--all\" ];
+then sleep 10 && systemctl start isc-dhcp-server.service &
+fi
+" > /etc/network/if-up.d/isc-dhcp-server \
+  && chmod +x /etc/network/if-up.d/isc-dhcp-server
+
+echo -e "\033[0;31m\033[1m$(date) | #6 Write magic script for rename SSID to /etc/rc.local\033[0m\033[0m"
+
+RENAME_SSID="sudo sed -i.OLD \"s/CLEVER/CLEVER-\$(head -c 100 /dev/urandom | xxd -ps -c 100 | sed -e 's/[^0-9]//g' | cut -c 1-4)/g\" /etc/wpa_supplicant/wpa_supplicant.conf && sudo sed -i '/sudo sed/d' /etc/rc.local && sudo reboot"
+
+sed -i "19a$RENAME_SSID" /etc/rc.local
+
+echo -e "\033[0;31m\033[1m$(date) | #7 End of network installation\033[0m\033[0m"
diff --git a/image_builder/scripts/ros_install.sh b/image_builder/scripts/ros_install.sh
new file mode 100755
index 000000000..4f5f623de
--- /dev/null
+++ b/image_builder/scripts/ros_install.sh
@@ -0,0 +1,173 @@
+#!/bin/bash
+
+set -e
+
+##################################################################################################################################
+# ROS for user pi
+##################################################################################################################################
+
+# ros http://wiki.ros.org/action/fullsearch/ROSberryPi/Installing%20ROS%20Kinetic%20on%20the%20Raspberry%20Pi
+# maintainer @urpylka
+
+echo -e "\033[0;31m\033[1m$(date) | #0 Installing ROS\033[0m\033[0m"
+
+echo -e "\033[0;31m\033[1m$(date) | #1 Installing dirmngr & add key to apt-key\033[0m\033[0m"
+
+# Install a tool that apt-key uses to add ROS repository key
+# http://wpblogger.su/tags/apt/
+apt-get install dirmngr
+# setup keys
+apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
+
+# setup sources.list
+echo "deb http://packages.ros.org/ros/ubuntu stretch main" > /etc/apt/sources.list.d/ros-latest.list
+
+echo -e "\033[0;31m\033[1m$(date) | #2 apt update && apt upgrade\033[0m\033[0m"
+
+# install bootstrap tools
+apt-get update
+# && apt upgrade -y
+
+echo -e "\033[0;31m\033[1m$(date) | #3 Installing wget, unzip, python-rosdep, python-rosinstall-generator, python-wstool, python-rosinstall, build-essential, cmake\033[0m\033[0m"
+
+apt-get install --no-install-recommends -y \
+  wget \
+  unzip \
+  python-rosdep \
+  python-rosinstall-generator \
+  python-wstool \
+  python-rosinstall \
+  build-essential \
+  cmake \
+  libjpeg8-dev
+
+echo -e "\033[0;31m\033[1m$(date) | #4 rosdep init && rosdep update\033[0m\033[0m"
+
+# bootstrap rosdep
+rosdep init && rosdep update
+
+echo -e "\033[0;31m\033[1m$(date) | #5 Preparing ros_comm packages to kinetic-ros_comm-wet.rosinstall\033[0m\033[0m"
+
+# create catkin workspace
+mkdir -p /home/pi/ros_catkin_ws && cd /home/pi/ros_catkin_ws \
+    && rosinstall_generator ros_comm --rosdistro kinetic --deps --wet-only --tar > kinetic-ros_comm-wet.rosinstall \
+    && wstool init src kinetic-ros_comm-wet.rosinstall
+
+echo -e "\033[0;31m\033[1m$(date) | #6 Preparing other ROS-packages to kinetic-custom_ros.rosinstall\033[0m\033[0m"
+
+cd /home/pi/ros_catkin_ws \
+  && rosinstall_generator \
+  actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common cv_bridge cv_camera diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs web_video_server xmlrpcpp mavros opencv3 mavros_extras \
+  --rosdistro kinetic --deps --wet-only --tar > kinetic-custom_ros.rosinstall \
+  && wstool merge -t src kinetic-custom_ros.rosinstall \
+  && wstool update -t src
+
+echo -e "\033[0;31m\033[1m$(date) | #7 Installing dependencies apps with rosdep\033[0m\033[0m"
+cd /home/pi/ros_catkin_ws
+# There is a risk that umount will fail
+set +e
+# Successfull unmount flag (false at thismoment)
+install_ok=false
+# Repeat 5 times
+for i in {1..5}
+do
+  # Resolving Dependencies with rosdep
+  rosdep install -y --from-paths src --ignore-src --rosdistro kinetic -r --os=debian:stretch
+  # If no problems detected
+  if [[ $? == 0 ]]
+  then
+    echo -e "\033[0;31m\033[1m$(date) | Successfull rosdep install\033[0m\033[0m"
+    # Set flag
+    install_ok=true
+    # Exit loop
+    break
+  fi
+  # Unmount has failed
+  echo -e "\033[0;31m\033[1m$(date) | Rosdep installation failed\033[0m\033[0m"
+  # Wait for some time
+  sleep 2
+done
+set -e
+# Jenkins job will fail if this condition is not true
+[[ "$install_ok" == true ]]
+echo -e "\033[0;31m\033[1m$(date) | End of rosdep install\033[0m\033[0m"
+
+
+echo -e "\033[0;31m\033[1m$(date) | #8 Refactoring usb_cam in SRC\033[0m\033[0m"
+
+sed -i '/#define __STDC_CONSTANT_MACROS/a\#define PIX_FMT_RGB24 AV_PIX_FMT_RGB24\n#define PIX_FMT_YUV422P AV_PIX_FMT_YUV422P' /home/pi/ros_catkin_ws/src/usb_cam/src/usb_cam.cpp
+
+echo -e "\033[0;31m\033[1m$(date) | #9 Installing GeographicLib datasets\033[0m\033[0m"
+
+/home/pi/ros_catkin_ws/src/mavros/mavros/scripts/install_geographiclib_datasets.sh
+
+#echo -e "\033[0;31m\033[1m$(date) | #11 Building light packages on 2 threads\033[0m\033[0m"
+
+# Build the catkin Workspace
+#cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j2 --install-space /opt/ros/kinetic --pkg actionlib actionlib_msgs angles async_web_server_cpp bond bond_core bondcpp bondpy camera_calibration_parsers camera_info_manager catkin class_loader cmake_modules cpp_common diagnostic_msgs diagnostic_updater dynamic_reconfigure eigen_conversions gencpp geneus genlisp genmsg gennodejs genpy geographic_msgs geometry_msgs geometry2 image_transport libmavconn mavlink mavros_msgs message_filters message_generation message_runtime mk nav_msgs nodelet orocos_kdl pluginlib python_orocos_kdl ros ros_comm rosapi rosauth rosbag rosbag_migration_rule rosbag_storage rosbash rosboost_cfg rosbridge_library rosbridge_server rosbridge_suite rosbuild rosclean rosconsole rosconsole_bridge roscpp roscpp_serialization roscpp_traits roscreate rosgraph rosgraph_msgs roslang roslaunch roslib roslint roslisp roslz4 rosmake rosmaster rosmsg rosnode rosout rospack rosparam rospy rospy_tutorials rosserial rosserial_client rosserial_msgs rosserial_python rosservice rostest rostime rostopic rosunit roswtf sensor_msgs smclib std_msgs std_srvs stereo_msgs tf tf2 tf2_bullet tf2_eigen tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros tf2_sensor_msgs tf2_tools topic_tools trajectory_msgs urdf urdf_parser_plugin usb_cam uuid_msgs visualization_msgs xmlrpcpp
+
+#echo -e "\033[0;31m\033[1m$(date) | #12 Building heavy packages\033[0m\033[0m"
+
+# This command uses less threads to avoid Raspberry Pi freeze
+# Build the catkin Workspace
+#cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -DCMAKE_BUILD_TYPE=Release -j1 --install-space /opt/ros/kinetic --pkg mavros opencv3 cv_bridge cv_camera mavros_extras web_video_server
+
+echo -e "\033[0;31m\033[1m$(date) | #10 Building packages on 1 thread\033[0m\033[0m"
+
+# Install builded packages
+# WARNING: A major bug was found when using --pkg option (catkin_make_isolated doesn't install environment files)
+# TODO: Can we increase threads number with HDD swap?
+cd /home/pi/ros_catkin_ws && ./src/catkin/bin/catkin_make_isolated --install -j1 -DCMAKE_BUILD_TYPE=Release --install-space /opt/ros/kinetic
+
+echo -e "\033[0;31m\033[1m$(date) | #12 Creating catkin_ws\033[0m\033[0m"
+
+mkdir -p /home/pi/catkin_ws/src \
+  && cd /home/pi/catkin_ws \
+  && . /opt/ros/kinetic/setup.sh \
+  && catkin init \
+  && wstool init /home/pi/catkin_ws/src
+
+echo -e "\033[0;31m\033[1m$(date) | #13 Installing CLEVER-BUNDLE\033[0m\033[0m"
+
+cd /home/pi/catkin_ws/src \
+  && git clone https://github.com/CopterExpress/clever.git clever \
+  && pip install wheel \
+  && pip install -r /home/pi/catkin_ws/src/clever/clever/requirements.txt \
+  && cd /home/pi/catkin_ws \
+  && . /opt/ros/kinetic/setup.sh \
+  && catkin_make -j1 \
+  && systemctl enable /home/pi/catkin_ws/src/clever/deploy/roscore.service \
+  && systemctl enable /home/pi/catkin_ws/src/clever/deploy/clever.service
+
+echo -e "\033[0;31m\033[1m$(date) | #14 Adding mjpg-streamer at /home/pi\033[0m\033[0m"
+
+# https://github.com/jacksonliam/mjpg-streamer
+
+cd /home/pi \
+  && git clone https://github.com/jacksonliam/mjpg-streamer.git \
+  && cd /home/pi/mjpg-streamer/mjpg-streamer-experimental \
+  && make \
+  && make install
+
+echo -e "\033[0;31m\033[1m$(date) | #15 Adding ENV vars\033[0m\033[0m"
+
+# setup environment
+echo "LANG=C.UTF-8" >> /home/pi/.bashrc
+echo "LC_ALL=C.UTF-8" >> /home/pi/.bashrc
+echo "ROS_DISTRO=kinetic" >> /home/pi/.bashrc
+echo "export ROS_IP=192.168.11.1" >> /home/pi/.bashrc
+
+echo "source /opt/ros/kinetic/setup.bash" >> /home/pi/.bashrc \
+  && echo "source /home/pi/catkin_ws/devel/setup.bash" >> /home/pi/.bashrc
+
+chown -Rf pi:pi /home/pi
+
+#echo -e "\033[0;31m\033[1m$(date) | #16 Removing local apt mirror\033[0m\033[0m"
+# Restore original sources.list
+#mv /var/sources.list.bak /etc/apt/sources.list
+# Clean apt cache
+apt-get clean
+# Remove local mirror repository key
+#apt-key del COEX-MIRROR
+
+echo -e "\033[0;31m\033[1m$(date) | #16 END of ROS INSTALLATION\033[0m\033[0m"
diff --git a/image_builder/scripts/software_install.sh b/image_builder/scripts/software_install.sh
new file mode 100755
index 000000000..c06874f18
--- /dev/null
+++ b/image_builder/scripts/software_install.sh
@@ -0,0 +1,28 @@
+#!/bin/bash
+
+set -e
+
+##################################################################################################################################
+# Image software installation
+##################################################################################################################################
+
+echo -e "\033[0;31m\033[1m$(date) | #1 Network installing\033[0m\033[0m"
+
+# TODO: Use dnsmasq instead of isc-dhcp-server
+apt-get install --no-install-recommends -y \
+  unzip \
+  zip \
+  ipython \
+  screen \
+  byobu \
+  nmap \
+  lsof \
+  python-pip \
+  git \
+  isc-dhcp-server \
+  tmux \
+  vim \
+  ipython3 \
+  python3-pip
+
+echo -e "\033[0;31m\033[1m$(date) | End of network installation\033[0m\033[0m"
diff --git a/image/yadisk.py b/image_builder/yadisk.py
similarity index 100%
rename from image/yadisk.py
rename to image_builder/yadisk.py