diff --git a/package.xml b/package.xml
index 39eb573c7757b75fd44507437336888aa780fd2c..b8a38b608f181a9eb19c33616e69d0da9fbbcfdc 100644
--- a/package.xml
+++ b/package.xml
@@ -22,8 +22,7 @@
   <url type="bugtracker">https://github.com/AndreaCensi/csm/issues</url>
   <maintainer email="130s@2000.jukuin.keio.ac.jp">Isaac I.Y. Saito</maintainer>
 
-  <buildtool_depend>cmake</buildtool_depend>
-  <run_depend>catkin</run_depend>
-  <run_depend>libgsl</run_depend>
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>libgsl</build_depend>
   <export />
 </package>
diff --git a/sm/apps/test_json.c b/sm/apps/test_json.c
index f74e64c9baec13b05e27af2cf36a540285b9a031..7ab066b61dbb96cf074791b6cefd4b9b19b30fb0 100644
--- a/sm/apps/test_json.c
+++ b/sm/apps/test_json.c
@@ -5,7 +5,7 @@ int main() {
 	LDP ld = ld_alloc_new(50);
 	JO jo = ld_to_json(ld);
 	
-	printf(json_object_to_json_string(jo));
+	printf("%s", json_object_to_json_string(jo));
 	
 	return 0;
 }
diff --git a/sm/apps/test_json_ld.c b/sm/apps/test_json_ld.c
index 0d10899edd852f0a737f51717bfd75af62a66cce..01b9355fd813ce11b59248dbc003bd5f15a6ea83 100644
--- a/sm/apps/test_json_ld.c
+++ b/sm/apps/test_json_ld.c
@@ -8,13 +8,13 @@ int main() {
 		if(!(ld = json_to_ld(jo))) {
 			fprintf(stderr, "Could not transform to laser_data:\n\n");
 			fprintf(stderr, "-----\n");
-			fprintf(stderr, json_object_to_json_string(jo));
+			fprintf(stderr, "%s", json_object_to_json_string(jo));
 			fprintf(stderr, "-----\n");
 			continue;
 		}
 		
 		jo = ld_to_json(ld);
-		printf(json_object_to_json_string(jo));
+		printf("%s", json_object_to_json_string(jo));
 		printf("\n");
 	}
 	
diff --git a/sm/lib/options/options.c b/sm/lib/options/options.c
index 04d33383085d7ee154135a3b75c903fbf4116bbf..33ac1772157875c28bb54b027c87261f41096ec8 100644
--- a/sm/lib/options/options.c
+++ b/sm/lib/options/options.c
@@ -396,7 +396,7 @@ void options_dump(struct option * options, FILE*f, int write_desc) {
 }
 
 void options_print_help(struct option * options, FILE*f) {
-	fprintf(f, options_banner_string);
+	fprintf(f, "%s", options_banner_string);
 	fprintf(f, 
 	"Generic options: \n"
 	"  -help          Displays this help.\n"