diff --git a/CMakeLists.txt b/CMakeLists.txt
index 92248aa6cfcf5cc5c1f6d8b44989f4940480d7df..d86e5563d576ebe281da3a6ee1d7176425f51c2a 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)
@@ -85,7 +85,7 @@ include_directories(${iriutils_INCLUDE_DIR} ./include)
 # add_library(${PROJECT_NAME} <list of source files>)
 
 ## Declare a cpp executable
-add_executable(${PROJECT_NAME} src/obstacle_detection_normals_alg.cpp src/obstacle_detection_normals_alg_node.cpp)
+add_executable(${PROJECT_NAME} src/nav_obstacle_detection_normals_alg.cpp src/nav_obstacle_detection_normals_alg_node.cpp)
 
 # ******************************************************************** 
 #                   Add the libraries
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/include/obstacle_detection_normals_alg.h b/include/iri_nav_obstacle_detection_normals_alg.h
similarity index 100%
rename from include/obstacle_detection_normals_alg.h
rename to include/iri_nav_obstacle_detection_normals_alg.h
diff --git a/include/obstacle_detection_normals_alg_node.h b/include/iri_nav_obstacle_detection_normals_alg_node.h
similarity index 100%
rename from include/obstacle_detection_normals_alg_node.h
rename to include/iri_nav_obstacle_detection_normals_alg_node.h
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>
 
diff --git a/src/obstacle_detection_normals_alg.cpp b/src/iri_nav_obstacle_detection_normals_alg.cpp
similarity index 100%
rename from src/obstacle_detection_normals_alg.cpp
rename to src/iri_nav_obstacle_detection_normals_alg.cpp
diff --git a/src/obstacle_detection_normals_alg_node.cpp b/src/iri_nav_obstacle_detection_normals_alg_node.cpp
similarity index 100%
rename from src/obstacle_detection_normals_alg_node.cpp
rename to src/iri_nav_obstacle_detection_normals_alg_node.cpp