diff --git a/CMakeLists.txt b/CMakeLists.txt
index 86685695cf02658cae60bbf7f8344069d16da0f0..16f8873ad11f1d92c9c8a6666d4876561ed409ec 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@
 #                 The new CMakeLists.txt file starts here                
 # ******************************************************************** 
 cmake_minimum_required(VERSION 2.8.3)
-project(iri_nav_average_point_cloud)
+project(iri_average_point_cloud)
 
 ## Find catkin macros and libraries
 #find_package(catkin REQUIRED)
@@ -88,8 +88,8 @@ include_directories(${EIGEN3_INCLUDE_DIRS})
 # add_library(${PROJECT_NAME} <list of source files>)
 
 ## Declare a cpp executable
-add_executable(${PROJECT_NAME} src/iri_nav_average_point_cloud_alg.cpp src/iri_nav_average_point_cloud_alg_node.cpp)
-add_library(${PROJECT_NAME}_nodelet src/iri_nav_average_point_cloud_alg.cpp src/iri_nav_average_point_cloud_alg_node.cpp)
+add_executable(${PROJECT_NAME} src/iri_average_point_cloud_alg.cpp src/iri_average_point_cloud_alg_node.cpp)
+add_library(${PROJECT_NAME}_nodelet src/iri_average_point_cloud_alg.cpp src/iri_average_point_cloud_alg_node.cpp)
 add_library(point_cloud_throttle_nodelet src/point_cloud_throttle_nodelet.cpp)
 
 # ******************************************************************** 
diff --git a/average_point_cloud_nodelet_plugin.xml b/average_point_cloud_nodelet_plugin.xml
index a570c4a2815a06ab784d6929bc131cbf1af7bd0f..c74e9704ed2a46fbdabdee65d69bfc6f6c702a5c 100755
--- a/average_point_cloud_nodelet_plugin.xml
+++ b/average_point_cloud_nodelet_plugin.xml
@@ -1,5 +1,5 @@
-<library path="lib/libiri_nav_average_point_cloud_nodelet">
-  <class name="iri_nav_average_point_cloud/AveragePointCloudAlgNodelet" type="AveragePointCloudAlgNodelet" base_class_type="nodelet::Nodelet">
+<library path="lib/libiri_average_point_cloud_nodelet">
+  <class name="iri_average_point_cloud/AveragePointCloudAlgNodelet" type="AveragePointCloudAlgNodelet" base_class_type="nodelet::Nodelet">
     <description>
       Nodelete for the IRI navigation Velodyne angle filter 
     </description>
diff --git a/cfg/AveragePointCloud.cfg b/cfg/AveragePointCloud.cfg
index 344df3abfa8bac0fbbb5ea65198440a09bc65120..a1f1f2422d43194b9ca90bffd8bc011d5d9cbaa4 100755
--- a/cfg/AveragePointCloud.cfg
+++ b/cfg/AveragePointCloud.cfg
@@ -31,7 +31,7 @@
 
 # Author: 
 
-PACKAGE='iri_nav_average_point_cloud'
+PACKAGE='iri_average_point_cloud'
 
 
 from dynamic_reconfigure.parameter_generator_catkin import *
diff --git a/include/iri_nav_average_point_cloud_alg.h b/include/iri_average_point_cloud_alg.h
similarity index 94%
rename from include/iri_nav_average_point_cloud_alg.h
rename to include/iri_average_point_cloud_alg.h
index d8946c0cc7e08a5a10e8d8f6033b29192d6ae1fd..87294dbaf739a7df07cea046990adc1e37fdef28 100644
--- a/include/iri_nav_average_point_cloud_alg.h
+++ b/include/iri_average_point_cloud_alg.h
@@ -22,10 +22,10 @@
 // refer to the IRI wiki page for more information:
 // http://wikiri.upc.es/index.php/Robotics_Lab
 
-#ifndef _iri_nav_average_point_cloud_alg_h_
-#define _iri_nav_average_point_cloud_alg_h_
+#ifndef _iri_average_point_cloud_alg_h_
+#define _iri_average_point_cloud_alg_h_
 
-#include <iri_nav_average_point_cloud/AveragePointCloudConfig.h>
+#include <iri_average_point_cloud/AveragePointCloudConfig.h>
 #include "mutex.h"
 
 //include average_point_cloud_alg main library
@@ -55,7 +55,7 @@ class AveragePointCloudAlgorithm
     * Define a Config type with the AveragePointCloudConfig. All driver implementations
     * will then use the same variable type Config.
     */
-    typedef iri_nav_average_point_cloud::AveragePointCloudConfig Config;
+    typedef iri_average_point_cloud::AveragePointCloudConfig Config;
 
    /**
     * \brief config variable
diff --git a/include/iri_nav_average_point_cloud_alg_node.h b/include/iri_average_point_cloud_alg_node.h
similarity index 98%
rename from include/iri_nav_average_point_cloud_alg_node.h
rename to include/iri_average_point_cloud_alg_node.h
index 3f074ca212d389507f584b9c3fb9feaa306d4182..9e77b85a7adb2ef2896425cbf283c281f3509bf4 100644
--- a/include/iri_nav_average_point_cloud_alg_node.h
+++ b/include/iri_average_point_cloud_alg_node.h
@@ -22,13 +22,13 @@
 // refer to the IRI wiki page for more information:
 // http://wikiri.upc.es/index.php/Robotics_Lab
 
-#ifndef _iri_nav_average_point_cloud_alg_node_h_
+#ifndef _iri_average_point_cloud_alg_node_h_
 #define _airi_nav_verage_point_cloud_alg_node_h_
 
 #include <boost/circular_buffer.hpp>
 
 #include <iri_base_algorithm/iri_base_algorithm.h>
-#include "iri_nav_average_point_cloud_alg.h"
+#include "iri_average_point_cloud_alg.h"
 
 //#include <ros/ros.h>
 
diff --git a/launch/node.launch b/launch/node.launch
index aeae379b841aa8dc875595fdac79814193dda42a..bc5f12f5fa876288f45d35a8a4aceda8966c323e 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -3,15 +3,15 @@
 
   <arg name="ns" default="ana"/>
   <arg name="node_name" default="average_point_cloud"/>
-  <arg name="config_file" default="$(find iri_nav_average_point_cloud)/config/default_config.yaml"/>
+  <arg name="config_file" default="$(find iri_average_point_cloud)/config/default_config.yaml"/>
   <arg name="output" default="screen"/>
   <arg name="launch_prefix" default=""/>
   <arg name="cloud_in" default="~pointcloud_in"/>
 
   <group ns="$(arg ns)">
 
-    <node pkg ="iri_nav_average_point_cloud"
-          type="iri_nav_average_point_cloud"
+    <node pkg ="iri_average_point_cloud"
+          type="iri_average_point_cloud"
           name="$(arg node_name)"
           output="$(arg output)"
           launch-prefix="$(arg launch_prefix)">
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
index 67580912379b6636c316938b672e437d30da8be1..d64e8c194b7a651d0f19aa55f645529be8147420 100644
--- a/launch/nodelet.launch
+++ b/launch/nodelet.launch
@@ -4,7 +4,7 @@
   <arg name="ns" default="ana"/>
   <arg name="node_name" default="average_point_cloud"/>
   <arg name="camera_nodelet_manager" default="camera_nodelet_manager"/>
-  <arg name="config_file" default="$(find iri_nav_average_point_cloud)/config/default_config.yaml"/>
+  <arg name="config_file" default="$(find iri_average_point_cloud)/config/default_config.yaml"/>
   <arg name="output" default="screen"/>
   <arg name="launch_prefix" default=""/>
   <arg name="cloud_in" default="~pointcloud_in"/>
@@ -14,7 +14,7 @@
     <node name="$(arg node_name)"
           pkg="nodelet"
           type="nodelet"
-          args="load iri_nav_average_point_cloud/AveragePointCloudAlgNodelet $(arg camera_nodelet_manager)"
+          args="load iri_average_point_cloud/AveragePointCloudAlgNodelet $(arg camera_nodelet_manager)"
           output="$(arg output)">
       <remap from="~input" to="$(arg cloud_in)"/>
       <rosparam file="$(arg config_file)" command="load"/>
diff --git a/package.xml b/package.xml
index caa83a69d891c230929e7974ced9e605591b4d4d..9b416125e7dd5f1a95f19bd139556be8520d57d5 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package>
-  <name>iri_nav_average_point_cloud</name>
+  <name>iri_average_point_cloud</name>
   <version>1.0.0</version>
   <description>average_filter</description>
 
diff --git a/src/iri_nav_average_point_cloud_alg.cpp b/src/iri_average_point_cloud_alg.cpp
similarity index 88%
rename from src/iri_nav_average_point_cloud_alg.cpp
rename to src/iri_average_point_cloud_alg.cpp
index 8d6d4af603579493066d094babc0073d9724c84c..25128339874d988e6b33f94115e51d7d8b5ee541 100644
--- a/src/iri_nav_average_point_cloud_alg.cpp
+++ b/src/iri_average_point_cloud_alg.cpp
@@ -1,4 +1,4 @@
-#include "iri_nav_average_point_cloud_alg.h"
+#include "iri_average_point_cloud_alg.h"
 
 AveragePointCloudAlgorithm::AveragePointCloudAlgorithm()
 {
diff --git a/src/iri_nav_average_point_cloud_alg_node.cpp b/src/iri_average_point_cloud_alg_node.cpp
similarity index 96%
rename from src/iri_nav_average_point_cloud_alg_node.cpp
rename to src/iri_average_point_cloud_alg_node.cpp
index a50b82389116b8282ff6d3a3c62a0eddf86c0b62..4f121f36a075b6ba7e0b45ec757db6648b75d684 100644
--- a/src/iri_nav_average_point_cloud_alg_node.cpp
+++ b/src/iri_average_point_cloud_alg_node.cpp
@@ -1,4 +1,4 @@
-#include "iri_nav_average_point_cloud_alg_node.h"
+#include "iri_average_point_cloud_alg_node.h"
 #include <boost/foreach.hpp>
 
 AveragePointCloudAlgNode::AveragePointCloudAlgNode(const ros::NodeHandle &nh) :
@@ -157,4 +157,4 @@ void *AveragePointCloudAlgNodelet::spin_thread(void *param)
 }
 
 // parameters are: package, class name, class type, base class type
-PLUGINLIB_DECLARE_CLASS(iri_nav_average_point_cloud, AveragePointCloudAlgNodelet, AveragePointCloudAlgNodelet, nodelet::Nodelet);
+PLUGINLIB_DECLARE_CLASS(iri_average_point_cloud, AveragePointCloudAlgNodelet, AveragePointCloudAlgNodelet, nodelet::Nodelet);
diff --git a/throttle_point_cloud_nodelet_plugin.xml b/throttle_point_cloud_nodelet_plugin.xml
index 4f544ed4ae252a78fb3145196fe345dfb520bfc3..40f220d82a6fcc92517b448dd342d43e96f5922a 100755
--- a/throttle_point_cloud_nodelet_plugin.xml
+++ b/throttle_point_cloud_nodelet_plugin.xml
@@ -1,5 +1,5 @@
 <library path="lib/libpoint_cloud_throttle_nodelet">
-  <class name="iri_nav_average_point_cloud/NodeletThrottlePC" type="NodeletThrottlePC" base_class_type="nodelet::Nodelet">
+  <class name="iri_average_point_cloud/NodeletThrottlePC" type="NodeletThrottlePC" base_class_type="nodelet::Nodelet">
     <description>
       Nodelete for the IRI navigation Velodyne angle filter 
     </description>