How long have humans in there present form been on planet earth?

We have been on earth in slightly different form for many years. We first started out as Homo Habilis. They lived about 2 million years ago. Then Homo Erectus came along. They lived about 1 million years ago. They created fire. Neanderthal man was next in line. They lived about 100,000 years ago. And the closest stage to our form was the Cro-Magnon Man, they lived 50,00 years ago.