diff --git a/Findsegway_rmp_200.cmake b/Findsegway_rmp_200.cmake
index 79ff0bb87af3cfa46d2a6ee5508fc271161c3c53..33ef781a29bc07ed8218db637d2edd96cca05f1a 100644
--- a/Findsegway_rmp_200.cmake
+++ b/Findsegway_rmp_200.cmake
@@ -1,8 +1,11 @@
-FIND_PATH(segway_rmp_200_INCLUDE_DIR segway_rmp200.h segway_rmp200_exceptions.h /usr/include/iridrivers /usr/local/include/iridrivers)
+FIND_PATH(segway_rmp_200_INCLUDE_DIR segway_rmp200.h segway_rmp200_exceptions.h /usr/include/iri/segway_rmp_200 /usr/local/include/iri/segway_rmp_200)
 
 FIND_LIBRARY(segway_rmp_200_LIBRARY
     NAMES segway_rmp_200
-    PATHS /usr/lib/iridrivers /usr/local/lib /usr/local/lib/iridrivers) 
+    PATHS /usr/lib/iri/segway_rmp_200 /usr/local/lib /usr/local/lib/iri/segway_rmp_200)
+    
+SET(segway_rmp_200_INCLUDE_DIRS ${segway_rmp_200_INCLUDE_DIR})
+SET(segway_rmp_200_LIBRARIES    ${segway_rmp_200_LIBRARY})
 
 IF (segway_rmp_200_INCLUDE_DIR AND segway_rmp_200_LIBRARY)
    SET(segway_rmp_200_FOUND TRUE)
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 60b7e99959d65aa60334dcb9698248546e7ea2bb..4585b33833c6465aed62834801a44e091a8c1f0b 100755
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -20,11 +20,11 @@ TARGET_LINK_LIBRARIES(segway_rmp_200 ${comm_LIBRARY})
 
 INSTALL(TARGETS segway_rmp_200
   RUNTIME DESTINATION bin
-  LIBRARY DESTINATION lib/iridrivers
-  ARCHIVE DESTINATION lib/iridrivers
+  LIBRARY DESTINATION lib/iri/${PROJECT_NAME}
+  ARCHIVE DESTINATION lib/iri/${PROJECT_NAME}
 )
 
-INSTALL(FILES ${headers} DESTINATION include/iridrivers)
+INSTALL(FILES ${headers} DESTINATION include/iri/${PROJECT_NAME})
 
 INSTALL(FILES ../Findsegway_rmp_200.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
 	
diff --git a/src/examples/test_segwayRMP200.cpp b/src/examples/test_segwayRMP200.cpp
index 9eea9118d22e7742e556cf82ce0fee9cdee21804..f7d9750a351e2bc52703e0b9a14d478381f36dfd 100755
--- a/src/examples/test_segwayRMP200.cpp
+++ b/src/examples/test_segwayRMP200.cpp
@@ -66,10 +66,10 @@ int main(int argc, char *argv[])
       catch(CException &e)
       {
         segway->close();
-//         if(segway != NULL)
-//           delete segway;
-// 
-//         segway = NULL;
+        // if(segway != NULL)
+        //   delete segway;
+        // 
+        // segway = NULL;
 
         std::cout << e.what() << std::endl;
         std::cout << "The segway platfrom is still not ready (is it power on?)" << std::endl << std::endl;
@@ -92,8 +92,9 @@ int main(int argc, char *argv[])
     events.push_back(segway->get_power_off_event());    
     events.push_back(segway->get_no_heartbeat_event());    
     events.push_back(segway->get_new_status_event());   
+    
+    //segway->move(0.1,0.0);
 
-//    segway->move(0.1,0.0);
     for(;;)
     {
       event_id=event_server->wait_first(events);
@@ -126,7 +127,7 @@ int main(int argc, char *argv[])
           {
             segway->connect();
             connected=true;
-//            segway->move(0.1,0.0);
+            //segway->move(0.1,0.0);
           }
           catch(CException &e)
           {