diff --git a/CMakeLists.txt b/CMakeLists.txt
index fb0fadddfc19ebd151d2821bbcbd2962ffa23fc3..1a8a2aabb9c4315ca427dfa59956d793d06014a2 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -77,9 +77,8 @@ find_package(catkin REQUIRED)
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
   INCLUDE_DIRS include
-#  LIBRARIES ${PROJECT_NAME}
+  LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS roscpp 
-#  DEPENDS system_lib
 )
 
 ###########
@@ -104,9 +103,6 @@ add_library(${PROJECT_NAME} src/timeout.cpp src/watchdog.cpp)
 # add_dependencies(iri_ros_tool_node iri_ros_tool_generate_messages_cpp)
 
 ## Specify libraries to link a library or executable target against
-# target_link_libraries(iri_ros_tool_node
-#   ${catkin_LIBRARIES}
-# )
 
 #############
 ## Install ##
@@ -130,7 +126,7 @@ add_library(${PROJECT_NAME} src/timeout.cpp src/watchdog.cpp)
 # )
 
 ## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
+# install(DIRECTORY include
 #   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 #   FILES_MATCHING PATTERN "*.h"
 #   PATTERN ".svn" EXCLUDE
diff --git a/include/timeout.h b/include/iri_ros_tools/timeout.h
similarity index 87%
rename from include/timeout.h
rename to include/iri_ros_tools/timeout.h
index dec93a6f37da68faed462bebcd87383a763164b8..e45688e1b097868cc22dfac328af01d62f2da471 100644
--- a/include/timeout.h
+++ b/include/iri_ros_tools/timeout.h
@@ -13,7 +13,7 @@ class CROSTimeout
     pthread_mutex_t access_;
   public:
     CROSTimeout();
-    void start(ros::Duration &time);
+    void start(const ros::Duration &time);
     void stop(void);
     bool timed_out(void);
     ~CROSTimeout();
diff --git a/include/watchdog.h b/include/iri_ros_tools/watchdog.h
similarity index 85%
rename from include/watchdog.h
rename to include/iri_ros_tools/watchdog.h
index 731d5eba3f1036c13493434c5475b078230cf894..f9109976ac97267a3a7938bc00ead270a72a401f 100644
--- a/include/watchdog.h
+++ b/include/iri_ros_tools/watchdog.h
@@ -1,5 +1,5 @@
 #ifndef _WATCHDOG_H
-#define _WATCHDOF_H
+#define _WATCHDOG_H
 
 #include <ros/ros.h>
 
@@ -11,7 +11,6 @@ class CROSWatchdog
   public:
     CROSWatchdog();
     void reset(ros::Duration time);
-    void update(void);
     bool is_active(void);
     ~CROSWatchdog();
 };
diff --git a/src/timeout.cpp b/src/timeout.cpp
index c5565cf9f44d3f969760785a15bada9ea9a76742..600c9103e6c5156625ed64bb1c6350656676604e 100644
--- a/src/timeout.cpp
+++ b/src/timeout.cpp
@@ -1,4 +1,4 @@
-#include "timeout.h"
+#include "iri_ros_tools/timeout.h"
 
 CROSTimeout::CROSTimeout()
 {
@@ -9,7 +9,7 @@ CROSTimeout::CROSTimeout()
   this->active=false;
 }
 
-void CROSTimeout::start(ros::Duration &time)
+void CROSTimeout::start(const ros::Duration &time)
 {
   pthread_mutex_lock(&this->access_);
   this->time_period = time;
diff --git a/src/watchdog.cpp b/src/watchdog.cpp
index a1ab239b56496b8b63109d4ce5b733c9959d6547..11507a0eb8adeb49d1537eea24a6c7238ef75e50 100644
--- a/src/watchdog.cpp
+++ b/src/watchdog.cpp
@@ -1,4 +1,4 @@
-#include "watchdog.h"
+#include "iri_ros_tools/watchdog.h"
 
 CROSWatchdog::CROSWatchdog()
 {
@@ -13,7 +13,7 @@ void CROSWatchdog::reset(ros::Duration time)
   pthread_mutex_unlock(&this->access_);
 }
 
-void CROSWatchdog::update(void)
+bool CROSWatchdog::is_active(void)
 {
   static ros::Time start_time=ros::Time::now();
   ros::Time current_time=ros::Time::now();
@@ -21,12 +21,6 @@ void CROSWatchdog::update(void)
   pthread_mutex_lock(&this->access_);
   this->max_time-=(current_time-start_time);
   start_time=current_time;
-  pthread_mutex_unlock(&this->access_);
-}
-
-bool CROSWatchdog::is_active(void)
-{
-  pthread_mutex_lock(&this->access_);
   if(this->max_time.toSec()<=0.0)
   {
     pthread_mutex_unlock(&this->access_);