diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
index e626a6710fc623b23fde07b1936e40f8d719f64d..3ab0cb197e1d08b4b89bf2d1f49edbfd62475e33 100644
--- a/.gitlab-ci.yml
+++ b/.gitlab-ci.yml
@@ -1,4 +1,4 @@
-image: docker.io/labrobotica/labrobotica
+image: docker.io/labrobotica/labrobotica:latest
 
 stages:
   - build
@@ -8,10 +8,9 @@ stages:
 build-package:
   stage: build
   script:
+    - apt update || apt -y install ca-certificates && apt update
 #  Uncomment to install dependencies
-#    - apt update
 #    - apt -y install iri-<package_name>-dev
-    - apt update
     - apt -y install iri-iriutils-dev iri-comm-dev iri-trajectory-dev iri-dynamixel-dev
     - apt install -y libxerces-c-dev xsdcxx
     - mkdir -pv build
@@ -30,7 +29,7 @@ update_repo:
   script:
     - cd build
     - "scp -i /root/.ssh/iriLabKeyNopwd -r *dynamixel-motor-cont*.deb irilabo@labrepo.iri.upc.edu:packages/"
-    - "ssh irilabo@labrepo.iri.upc.edu -i /root/.ssh/iriLabKeyNopwd -tt /home/irilabo/repo_scripts/update_repo.sh dynamixel-motor-cont"
+    - "ssh irilabo@labrepo.iri.upc.edu -i /root/.ssh/iriLabKeyNopwd -tt /home/irilabo/repo_scripts/update_repo.sh dynamixel-motor-cont $(lsb_release -cs)"
   only:
     - tags
 
diff --git a/CMakeLists.txt b/CMakeLists.txt
index aa3bc65c856d498c5dfb5f467ba895e1770ee18c..a88a31df8ae47f6589098e24d1c1eff39ece0211 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -86,7 +86,7 @@ IF (UNIX)
   SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "labrobotica - labrobotica@iri.upc.edu")
 
 # Uncomment to add the necessary mantainer scripts
-#   SET(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA "${CMAKE_SOURCE_DIR}/package_scripts/preinst;${CMAKE_SOURCE_DIR}/package_scripts/postinst;${CMAKE_SOURCE_DIR}/package_scripts/prerm;${CMAKE_SOURCE_DIR}/package_scripts/postrm")
+  SET(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA "${CMAKE_SOURCE_DIR}/scripts/debian/postinst;${CMAKE_SOURCE_DIR}/scripts/debian/prerm")
 
 # Uncomment to add dependencies comma separated
 # SET(CPACK_DEBIAN_PACKAGE_DEPENDS "iri-<package_name>-dev (>= 1.0~${DISTRIB})")
diff --git a/scripts/debian/postinst b/scripts/debian/postinst
new file mode 100755
index 0000000000000000000000000000000000000000..2920ec9592890acb088e39a326b8a6d787534cdc
--- /dev/null
+++ b/scripts/debian/postinst
@@ -0,0 +1,22 @@
+#!/bin/bash
+
+set -e
+
+case "$1" in
+  configure)
+    echo "   Trying to add library to ldconfig..."
+    /usr/share/iri/add_lib_to_ld_config.sh -l dynamixel_motor_cont -p && echo "   Done." || echo "   /usr/share/iri/add_lib_to_ld_config.sh doesn't exists. Download it from iriutils and execute it."
+    
+  ;;
+  abort-upgrade)
+
+  ;;
+  abort-remove)
+
+  ;;
+  abort-deconfigure)
+
+  ;;
+esac   
+
+exit 0
diff --git a/scripts/debian/prerm b/scripts/debian/prerm
new file mode 100644
index 0000000000000000000000000000000000000000..163269025969cf5dc27fceee9e23c7e6b1b30c7b
--- /dev/null
+++ b/scripts/debian/prerm
@@ -0,0 +1,22 @@
+#!/bin/bash
+
+set -e
+
+case "$1" in
+  remove)
+    echo "   Trying to remove library from ldconfig..."
+    /usr/share/iri/remove_lib_from_ld_config.sh -l dynamixel_motor_cont -p && echo "   Done." || echo "   /usr/share/iri/remove_lib_from_ld_config.sh doesn't exists. Download it from iriutils and execute it."
+
+  ;;
+  upgrade)
+
+  ;;
+  deconfigure)
+
+  ;;
+  failed-upgrade)
+
+  ;;
+esac    
+
+exit 0