diff --git a/src/iri_average_point_cloud_alg_node.cpp b/src/iri_average_point_cloud_alg_node.cpp
index 4f121f36a075b6ba7e0b45ec757db6648b75d684..b5f1a830c9c7d9d82a8e6e62286a60a362eb846a 100644
--- a/src/iri_average_point_cloud_alg_node.cpp
+++ b/src/iri_average_point_cloud_alg_node.cpp
@@ -151,10 +151,10 @@ void *AveragePointCloudAlgNodelet::spin_thread(void *param)
 {
   AveragePointCloudAlgNodelet *nodelet=(AveragePointCloudAlgNodelet *)param;
 
-  nodelet->node->spin();
+  nodelet->node->nodelet_spin();
 
   pthread_exit(NULL);
 }
 
 // parameters are: package, class name, class type, base class type
-PLUGINLIB_DECLARE_CLASS(iri_average_point_cloud, AveragePointCloudAlgNodelet, AveragePointCloudAlgNodelet, nodelet::Nodelet);
+PLUGINLIB_EXPORT_CLASS(AveragePointCloudAlgNodelet, nodelet::Nodelet);
diff --git a/src/point_cloud_throttle_nodelet.cpp b/src/point_cloud_throttle_nodelet.cpp
index 256de24de33327dbe1928577f7d512542fbb1016..f544cb010f1aaaf695fbb468061733b422a903dc 100644
--- a/src/point_cloud_throttle_nodelet.cpp
+++ b/src/point_cloud_throttle_nodelet.cpp
@@ -3,4 +3,4 @@
 #include <pluginlib/class_list_macros.h>
 
 typedef nodelet_topic_tools::NodeletThrottle<sensor_msgs::PointCloud2> NodeletThrottlePC;
-PLUGINLIB_DECLARE_CLASS(iri_nav_average_point_cloud, NodeletThrottlePC, NodeletThrottlePC, nodelet::Nodelet);
+PLUGINLIB_EXPORT_CLASS(NodeletThrottlePC,nodelet::Nodelet);