diff --git a/CMakeLists.txt b/CMakeLists.txt
index bbd538f760a7c46b645de16fb564001384b22006..055ede90fe3d1cab23f85334c0573fa6331c9284 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,6 +8,7 @@ endif(COMMAND cmake_policy)
 
 # The project name and the type of project
 PROJECT(segway_rmp_200)
+SET(PACKAGE_NAME segway-rmp-200)
 
 SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
 SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
@@ -71,22 +72,25 @@ ELSE(UNIX)
   )
 ENDIF(UNIX)
 
-
 IF (UNIX)
-  SET(CPACK_PACKAGE_FILE_NAME "iri-${PROJECT_NAME}-dev-${CPACK_PACKAGE_VERSION}${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
-  SET(CPACK_PACKAGE_NAME "iri-${PROJECT_NAME}-dev")
-  SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Part of IRI-laboratory libraries. More information at http://wikiri.upc.es/index.php/Robotics_Lab")
-  SET(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
-  SET(CPACK_GENERATOR "DEB")
-  SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "galenya - labrobotica@iri.upc.edu")
-  SET(CPACK_SET_DESTDIR "ON")  # Necessary because of the absolute install paths
-  SET(CPACK_DEBIAN_PACKAGE_DEPENDS "iri-iriutils-dev (>= 1.0~${DISTRIB}), iri-comm-dev (>= 1.0~${DISTRIB})")
-
-  INCLUDE(CPack)
-ELSE(UNIX)
-  ADD_CUSTOM_COMMAND(
-    COMMENT "packaging only implemented in unix"
-    TARGET  uninstall
-  )
-ENDIF(UNIX)
-
+    SET(CPACK_PACKAGE_FILE_NAME "iri-${PACKAGE_NAME}-dev-${CPACK_PACKAGE_VERSION}-${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
+    SET(CPACK_PACKAGE_NAME "iri-${PACKAGE_NAME}-dev")
+    SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Part of IRI-laboratory libraries. More information at https://gitlab.iri.upc.edu/labrobotica")
+    SET(CPACK_PACKAGING_INSTALL_PREFIX /usr)
+    SET(CPACK_GENERATOR "DEB")
+    SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "labrobotica - labrobotica@iri.upc.edu")
+
+  # Uncomment to add the necessary mantainer scripts
+  #   SET(CPACK_DEBIAN_PACKAGE_CONTROL_EXTRA "${CMAKE_SOURCE_DIR}/scripts/debian/preinst;${CMAKE_SOURCE_DIR}/scripts/debian/postinst;${CMAKE_SOURCE_DIR}/scripts/debian/prerm;${CMAKE_SOURCE_DIR}/scripts/debian/postrm")
+
+  # Uncomment to add dependencies comma separated
+  # SET(CPACK_DEBIAN_PACKAGE_DEPENDS "iri-<package_name>-dev (>= 1.0~${DISTRIB})")
+    SET(CPACK_DEBIAN_PACKAGE_DEPENDS "iri-iriutils-dev (>= 1.0~${DISTRIB}), iri-comm-dev (>= 1.0~${DISTRIB})")
+
+    INCLUDE(CPack)
+  ELSE(UNIX)
+    ADD_CUSTOM_COMMAND(
+      COMMENT "packaging only implemented in unix"
+      TARGET  uninstall
+    )
+  ENDIF(UNIX)
\ No newline at end of file
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 4585b33833c6465aed62834801a44e091a8c1f0b..c6c1b13fde663805e1b6b6a86f9d7448677f1260 100755
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -1,22 +1,22 @@
 # edit the following line to add all the source code files of the library
 SET(sources segway_rmp200.cpp segway_rmp200_exceptions.cpp)
 # edit the following line to add all the header files of the library
-SET(headers segway_rmp200.h segway_rmp200_exceptions.h)
+SET(headers ../include/segway_rmp200.h ../include/segway_rmp200_exceptions.h)
 
 # edit the following line to find the necessary packages
 FIND_PACKAGE(iriutils REQUIRED)
 FIND_PACKAGE(comm REQUIRED)
 
 # edit the following line to add the necessary include directories
-INCLUDE_DIRECTORIES(.)
-INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
-INCLUDE_DIRECTORIES(${comm_INCLUDE_DIR})
+INCLUDE_DIRECTORIES(../include)
+INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(${comm_INCLUDE_DIRS})
 
 ADD_LIBRARY(segway_rmp_200 SHARED ${sources})
 
 #edit the following line to add the necessary system libraries (if any)
-TARGET_LINK_LIBRARIES(segway_rmp_200 ${iriutils_LIBRARY})
-TARGET_LINK_LIBRARIES(segway_rmp_200 ${comm_LIBRARY})
+TARGET_LINK_LIBRARIES(segway_rmp_200 ${iriutils_LIBRARIES})
+TARGET_LINK_LIBRARIES(segway_rmp_200 ${comm_LIBRARIES})
 
 INSTALL(TARGETS segway_rmp_200
   RUNTIME DESTINATION bin
diff --git a/src/examples/motionModelData.cpp b/src/examples/motionModelData.cpp
index bd92867746ac2e78aa8bda8282af6cbf8e17ff20..a788872b7fb6f258f17050f8bc6c3c7da48aff76 100644
--- a/src/examples/motionModelData.cpp
+++ b/src/examples/motionModelData.cpp
@@ -65,7 +65,7 @@ int main(int argc, char *argv[])
 	string fileName = "/home/andreu/Desktop/dataFile.txt";
 	timeval tvTimeStamp;
 	double timeStamp;
-	streamsize nn;
+	//streamsize nn;
 	
 	//user variables 
 	float duration; //duration of all the experiment
@@ -182,7 +182,7 @@ int main(int argc, char *argv[])
 	
 			//logging data
 			//cout << (*segway) << endl;
-			nn=dataFile.precision(15);
+			//nn=dataFile.precision(15);
 			dataFile << timeStamp << " ";
 			dataFile.precision(6);
 			dataFile 	<< vt << "\t" << vr << "\t"