diff --git a/add_publisher_subscriber.sh b/add_publisher_subscriber.sh
index 4163f3cf7607a0bc38b888e352f8966adf8aebca..5065c9cc529a60216d179ff1ac26dc57b18ac0a8 100755
--- a/add_publisher_subscriber.sh
+++ b/add_publisher_subscriber.sh
@@ -51,7 +51,7 @@ do
        ;;
     ?)
        echo "invalid input argument ${OPTION}"
-       kill_exit "Usage: add_publisher_subscriber.sh -o [publisher,subscriber] -p ros_pkg -t topic_name -m message.msg -b 100"
+       kill_exit "Usage: add_publisher_subscriber.sh -o [publisher,subscriber] -p ros_pkg -t topic_name -m message.msg -b 1"
        exit
        ;;
   esac
@@ -61,7 +61,7 @@ done
 if [ ! "${pub_subs}" ] || [ ! "${ros_pkg}" ] || [ ! "${topic_name}" ] || [ ! "${msg_file}" ] || [ ! "${buffer}" ]
 then
   echo "Missing input parameters..."
-  kill_exit "Usage: add_publisher_subscriber.sh -o [publisher,subscriber] -p ros_pkg -t topic_name -m message.msg -b 100"
+  kill_exit "Usage: add_publisher_subscriber.sh -o [publisher,subscriber] -p ros_pkg -t topic_name -m message.msg -b 1"
 fi
 
 #check publisher subscriber parameter
diff --git a/driver_templates/CMakeLists.txt b/driver_templates/CMakeLists.txt
index a5982ede66b7201ae7b8aa55856f1c7a89e50dc6..b86d8fb79786bcfc5918cdbe1efe53a966d75119 100644
--- a/driver_templates/CMakeLists.txt
+++ b/driver_templates/CMakeLists.txt
@@ -94,6 +94,8 @@ target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 #               Add message headers dependencies 
 # ******************************************************************** 
 # add_dependencies(${PROJECT_NAME} <msg_package_name>_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME} iri_base_driver_generate_messages_cpp)
+add_dependencies(${PROJECT_NAME}_gencfg iri_base_driver_generate_messages_cpp)
 # ******************************************************************** 
 #               Add dynamic reconfigure dependencies 
 # ******************************************************************** 
diff --git a/libraries/create_action_client.sh b/libraries/create_action_client.sh
index df3cf2f2298af09e6aedecb9428bc491613a017e..9ff86a70129b28c9a7b5ae0955d4f433b6d4161c 100644
--- a/libraries/create_action_client.sh
+++ b/libraries/create_action_client.sh
@@ -203,7 +203,8 @@ function create_action_client
       old_string="iri_base_algorithm"
     fi
     new_string="${old_string}\ ${actionlib_pkg}"
-    sed -i "s/${old_string}/${new_string}/g" "CMakeLists.txt"
+    sed -i -e "/find_package/ s/${old_string}/${new_string}/g" "CMakeLists.txt"
+    sed -i -e "/CATKIN_DEPENDS/ s/${old_string}/${new_string}/g" "CMakeLists.txt"
   fi
 
   add_cmake_dependencies "${driver_alg}" "${ros_pkg}" "${act_pkg}"
diff --git a/libraries/create_action_server.sh b/libraries/create_action_server.sh
index 7005269cbf77fcbe94b43b481521d531ff955b11..b4c0ce1e925b1ea15353ac88ced1c669f34498b2 100644
--- a/libraries/create_action_server.sh
+++ b/libraries/create_action_server.sh
@@ -549,7 +549,8 @@ function create_action_server
       old_string="iri_base_algorithm"
     fi
     new_string="${old_string}\ iri_action_server"
-    sed -i "s/${old_string}/${new_string}/g" "CMakeLists.txt"
+    sed -i -e "/find_package/ s/${old_string}/${new_string}/g" "CMakeLists.txt"
+    sed -i -e "/CATKIN_DEPENDS/ s/${old_string}/${new_string}/g" "CMakeLists.txt"
   fi
 
 ################################################################################
diff --git a/libraries/scripts_library.sh b/libraries/scripts_library.sh
index 24cd2c3f67726a6b90ef82b3e842a32467b1916f..d3338465bec06c990f9ff4f12d2ea0c330942b42 100644
--- a/libraries/scripts_library.sh
+++ b/libraries/scripts_library.sh
@@ -566,7 +566,8 @@ function add_cmake_dependencies
         old_string="iri_base_algorithm"
       fi
       new_string="${old_string}\ ${new_pkg}"
-      sed -i "s/${old_string}/${new_string}/g" "CMakeLists.txt"
+      sed -i -e "/find_package/ s/${old_string}/${new_string}/g" "CMakeLists.txt"
+      sed -i -e "/CATKIN_DEPENDS/ s/${old_string}/${new_string}/g" "CMakeLists.txt"
     fi
 
     line="add_dependencies(\${PROJECT_NAME} ${new_pkg}_generate_messages_cpp)"