passing to package format 2

package.xml

 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>iri_base_driver</name>
   <version>1.0.0</version>
   <description>The iri_base_driver package</description>
@@ -16,34 +16,49 @@
   <license>LGPL</license>
 
 
-  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
   <!-- Example: -->
   <url type="website">http://wiki.ros.org/iri_base_driver</url>
 
 
-  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
   <!-- Authors do not have to be maintianers, but could be -->
   <!-- Example: -->
   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
   <author>Joan Perez</author>
 
 
-  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- The *depend tags are used to specify dependencies -->
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!--   <build_export_depend>roscpp</build_export_depend> -->
   <!-- Use build_depend for packages you need at compile time: -->
-  <build_depend>roscpp</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
-  <build_depend>message_generation</build_depend>
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
   <!-- Use buildtool_depend for build tool packages: -->
   <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <run_depend>roscpp</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>message_runtime</run_depend>
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <depend>roscpp</depend>
+  <depend>dynamic_reconfigure</depend>
+  <depend>message_runtime</depend>
 
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
 </package>