diff --git a/CMakeLists.txt b/CMakeLists.txt
index 92248aa6cfcf5cc5c1f6d8b44989f4940480d7df..c5907b874cf10f61f988e2dab392e693961e2a36 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_obstacle_detection_normals)
+project(iri_nav_obstacle_detection_normals)
 
 ## Find catkin macros and libraries
 # find_package(catkin REQUIRED)
@@ -18,6 +18,7 @@ find_package(catkin REQUIRED COMPONENTS iri_base_algorithm sensor_msgs pcl_ros)
 #           Add system and labrobotica dependencies here
 # ******************************************************************** 
 # find_package(<dependency> REQUIRED)
+find_package(iriutils REQUIRED)
 
 # ******************************************************************** 
 #           Add topic, service and action definition here
diff --git a/cfg/ObstacleDetectionNormals.cfg b/cfg/ObstacleDetectionNormals.cfg
index 618630f10f19b138763c513bf611213e928c43ad..9dade53ba091c164eac7c5c9ffaa9d64dcb9512d 100755
--- a/cfg/ObstacleDetectionNormals.cfg
+++ b/cfg/ObstacleDetectionNormals.cfg
@@ -31,7 +31,7 @@
 
 # Author: 
 
-PACKAGE='iri_obstacle_detection_normals'
+PACKAGE='iri_nav_obstacle_detection_normals'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 
diff --git a/package.xml b/package.xml
index 20c6c1e404905b0738481bd266e7a87300322c26..cdfb79735af73103943ca3e111d2bae5c65d2506 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package>
-  <name>iri_obstacle_detection_normals</name>
+  <name>iri_nav_obstacle_detection_normals</name>
   <version>1.0.0</version>
   <description>Package for detecting normals using outliers filter's output</description>