diff --git a/CMakeLists.txt b/CMakeLists.txt
index 32b7762fc731e29616044f240449d1f0ac350ec7..cfc51b089fd3d013e40a1458554671a3a438efa6 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_obstacle_detection_normals)
+project(iri_obstacle_detection_normals)
 
 ## Find catkin macros and libraries
 # find_package(catkin REQUIRED)
diff --git a/cfg/ObstacleDetectionNormals.cfg b/cfg/ObstacleDetectionNormals.cfg
index f1f1d5708b6c185d37e3d45eadd54c7964cf6d55..068ed622ec80d9f6486e733c64a6b295b0a4668f 100755
--- a/cfg/ObstacleDetectionNormals.cfg
+++ b/cfg/ObstacleDetectionNormals.cfg
@@ -31,7 +31,7 @@
 
 # Author: 
 
-PACKAGE='iri_nav_obstacle_detection_normals'
+PACKAGE='iri_obstacle_detection_normals'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 
diff --git a/include/obstacle_detection_normals_alg.h b/include/obstacle_detection_normals_alg.h
index 822ac1791306628fb5c0dc10e3d255dd868bcb43..bd5836f0b395322082a7bfdf67f06b2cd7fabb5e 100644
--- a/include/obstacle_detection_normals_alg.h
+++ b/include/obstacle_detection_normals_alg.h
@@ -26,7 +26,7 @@
 #define _obstacle_detection_normals_alg_h_
 
 #include <iri_base_algorithm/iri_base_algorithm.h>
-#include <iri_nav_obstacle_detection_normals/ObstacleDetectionNormalsConfig.h>
+#include <iri_obstacle_detection_normals/ObstacleDetectionNormalsConfig.h>
 #include "mutex.h"
 
 #include <pcl/point_types.h>
@@ -68,7 +68,7 @@ class ObstacleDetectionNormalsAlgorithm
     * Define a Config type with the ObstacleDetectionNormalsConfig. All driver implementations
     * will then use the same variable type Config.
     */
-    typedef iri_nav_obstacle_detection_normals::ObstacleDetectionNormalsConfig Config;
+    typedef iri_obstacle_detection_normals::ObstacleDetectionNormalsConfig Config;
 
    /**
     * \brief config variable
diff --git a/launch/node.launch b/launch/node.launch
index bc6ab27b34615632ca9e863e23c6c3da02ff9d4c..0242e69f4f5cf930f4dc67701fdacfd8b71b3488 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -3,15 +3,15 @@
 
   <arg name="ns" default="ana"/>
   <arg name="node_name" default="obstacle_detection_normals"/>
-  <arg name="config_file" default="$(find iri_nav_obstacle_detection_normals)/config/default_config.yaml"/>
+  <arg name="config_file" default="$(find iri_obstacle_detection_normals)/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_obstacle_detection_normals"
-          type="iri_nav_obstacle_detection_normals"
+    <node pkg ="iri_obstacle_detection_normals"
+          type="iri_obstacle_detection_normals"
           name="$(arg node_name)"
           output="$(arg output)"
           launch-prefix="$(arg launch_prefix)">
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
index 82beed37b47b1423a734f182cb8aa32060bcfcb6..b8c7815af99ee5ce0dc683536d4f4a84cb95940d 100644
--- a/launch/nodelet.launch
+++ b/launch/nodelet.launch
@@ -4,7 +4,7 @@
   <arg name="ns" default="ana"/>
   <arg name="node_name" default="obstacle_detection_normals"/>
   <arg name="camera_nodelet_manager" default="camera_nodelet_manager"/>
-  <arg name="config_file" default="$(find iri_nav_obstacle_detection_normals)/config/default_config.yaml"/>
+  <arg name="config_file" default="$(find iri_obstacle_detection_normals)/config/default_config.yaml"/>
   <arg name="output" default="screen"/>
   <arg name="launch_prefix" default=""/>
   <arg name="cloud_in" default="~pointcloud_in"/>
@@ -14,7 +14,7 @@
     <node name="$(arg node_name)"
           pkg="nodelet"
           type="nodelet"
-          args="load iri_nav_obstacle_detection_normals/ObstacleDetectionNormalsAlgNodelet $(arg camera_nodelet_manager)"
+          args="load iri_obstacle_detection_normals/ObstacleDetectionNormalsAlgNodelet $(arg camera_nodelet_manager)"
           output="$(arg output)">
       <remap from="~input" to="$(arg cloud_in)"/>
       <rosparam file="$(arg config_file)" command="load"/>
diff --git a/obstacle_detection_normals_nodelet_plugin.xml b/obstacle_detection_normals_nodelet_plugin.xml
index 5cdacd0a8477f7865d2c673cafce69e37681d422..214ff31278c13bc10148e1ea12d5b5fe242f3907 100755
--- a/obstacle_detection_normals_nodelet_plugin.xml
+++ b/obstacle_detection_normals_nodelet_plugin.xml
@@ -1,5 +1,5 @@
-<library path="lib/libiri_nav_obstacle_detection_normals_nodelet">
-  <class name="iri_nav_obstacle_detection_normals/ObstacleDetectionNormalsAlgNodelet" type="ObstacleDetectionNormalsAlgNodelet" base_class_type="nodelet::Nodelet">
+<library path="lib/libiri_obstacle_detection_normals_nodelet">
+  <class name="iri_obstacle_detection_normals/ObstacleDetectionNormalsAlgNodelet" type="ObstacleDetectionNormalsAlgNodelet" base_class_type="nodelet::Nodelet">
     <description>
       Nodelete for the IRI navigation Velodyne angle filter 
     </description>
diff --git a/package.xml b/package.xml
index cc848ff83ea67ed4bf180b0807e6e591a72690b6..f7995380a44b6a689a15145b4c24dce8f4872bcf 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package>
-  <name>iri_nav_obstacle_detection_normals</name>
+  <name>iri_obstacle_detection_normals</name>
   <version>1.0.0</version>
   <description>Package for detecting normals using outliers filter's output</description>