diff --git a/obstacle_detection_normals_nodelet_plugin.xml b/obstacle_detection_normals_nodelet_plugin.xml
index 63c9edfa1ea94de31341215d9b2dbefdc6ed09f2..5cdacd0a8477f7865d2c673cafce69e37681d422 100755
--- a/obstacle_detection_normals_nodelet_plugin.xml
+++ b/obstacle_detection_normals_nodelet_plugin.xml
@@ -1,4 +1,4 @@
-<library path="lib/libiri_nav_obstacle_detection_normals_nodelete">
+<library path="lib/libiri_nav_obstacle_detection_normals_nodelet">
   <class name="iri_nav_obstacle_detection_normals/ObstacleDetectionNormalsAlgNodelet" type="ObstacleDetectionNormalsAlgNodelet" base_class_type="nodelet::Nodelet">
     <description>
       Nodelete for the IRI navigation Velodyne angle filter 
diff --git a/package.xml b/package.xml
index 912e685c5aaa1c9d7fd8a32cd0d7a74820667a5e..cc848ff83ea67ed4bf180b0807e6e591a72690b6 100644
--- a/package.xml
+++ b/package.xml
@@ -50,6 +50,7 @@
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
+    <nodelet plugin="${prefix}/obstacle_detection_normals_nodelet_plugin.xml" />
     <!-- Other tools can request additional information be placed here -->
   </export>
 </package>
diff --git a/src/obstacle_detection_normals_alg_node.cpp b/src/obstacle_detection_normals_alg_node.cpp
index eb59a3dfa7b86a158ec746dbbe384d884dfd7367..5f6887ad35452d47b9b1c5d73f1d1af55d276521 100644
--- a/src/obstacle_detection_normals_alg_node.cpp
+++ b/src/obstacle_detection_normals_alg_node.cpp
@@ -134,5 +134,5 @@ void *ObstacleDetectionNormalsAlgNodelet::spin_thread(void *param)
 }
 
 // parameters are: package, class name, class type, base class type
-PLUGINLIB_DECLARE_CLASS(iri_lidar_obstacle_detector, ObstacleDetectionNormalsAlgNodelet, ObstacleDetectionNormalsAlgNodelet, nodelet::Nodelet);
+PLUGINLIB_DECLARE_CLASS(iri_nav_obstacle_detection_normals, ObstacleDetectionNormalsAlgNodelet, ObstacleDetectionNormalsAlgNodelet, nodelet::Nodelet);