diff --git a/CMakeLists.txt b/CMakeLists.txt
index da4bc858893efb5c0d1096e017c5c44307092099..157d8e74d232c1bb092945c9cbbb9357f475b89f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(iri_base_driver)
 
-set(CMAKE_BUILD_TYPE "DEBUG")
+# set(CMAKE_BUILD_TYPE "DEBUG")
 
 ## Add support for C++11, supported in ROS Kinetic and newer
 # add_definitions(-std=c++11)
@@ -9,9 +9,14 @@ set(CMAKE_BUILD_TYPE "DEBUG")
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp dynamic_reconfigure message_generation)
+find_package(catkin REQUIRED COMPONENTS
+	roscpp
+	dynamic_reconfigure
+	message_generation
+)
 
 ## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
 find_package(Boost REQUIRED COMPONENTS system thread)
 
 ## Uncomment this if the package has a setup.py. This macro ensures
@@ -92,17 +97,21 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 # include_directories(include)
-INCLUDE_DIRECTORIES(include)
-include_directories(${catkin_INCLUDE_DIRS})
-include_directories(${Boost_INCLUDE_DIRS})
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${Boost_INCLUDE_DIRS}
+)
 
 ## Declare a cpp library
 # add_library(foo
 #   src/${PROJECT_NAME}/foo.cpp
 # )
 add_library(${PROJECT_NAME} src/iri_base_driver.cpp)
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
-target_link_libraries(${PROJECT_NAME} ${Boost_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}
+  ${catkin_LIBRARIES}
+  ${Boost_LIBRARIES}
+)
 
 ## Declare a cpp executable
 # add_executable(foo_node src/foo_node.cpp)
diff --git a/package.xml b/package.xml
index 44cb7490c36ef296085ed28883401cddab1e4b47..b5d4e5683d2da1dc2f69a52d7e151867e6717c23 100644
--- a/package.xml
+++ b/package.xml
@@ -1,5 +1,5 @@
 <?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>