diff --git a/CMakeLists.txt b/CMakeLists.txt
index d86e5563d576ebe281da3a6ee1d7176425f51c2a..c5907b874cf10f61f988e2dab392e693961e2a36 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -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
@@ -85,7 +86,7 @@ include_directories(${iriutils_INCLUDE_DIR} ./include)
 # add_library(${PROJECT_NAME} <list of source files>)
 
 ## Declare a cpp executable
-add_executable(${PROJECT_NAME} src/nav_obstacle_detection_normals_alg.cpp src/nav_obstacle_detection_normals_alg_node.cpp)
+add_executable(${PROJECT_NAME} src/obstacle_detection_normals_alg.cpp src/obstacle_detection_normals_alg_node.cpp)
 
 # ******************************************************************** 
 #                   Add the libraries
diff --git a/include/iri_nav_obstacle_detection_normals_alg.h b/include/obstacle_detection_normals_alg.h
similarity index 100%
rename from include/iri_nav_obstacle_detection_normals_alg.h
rename to include/obstacle_detection_normals_alg.h
diff --git a/include/iri_nav_obstacle_detection_normals_alg_node.h b/include/obstacle_detection_normals_alg_node.h
similarity index 100%
rename from include/iri_nav_obstacle_detection_normals_alg_node.h
rename to include/obstacle_detection_normals_alg_node.h
diff --git a/src/iri_nav_obstacle_detection_normals_alg.cpp b/src/obstacle_detection_normals_alg.cpp
similarity index 100%
rename from src/iri_nav_obstacle_detection_normals_alg.cpp
rename to src/obstacle_detection_normals_alg.cpp
diff --git a/src/iri_nav_obstacle_detection_normals_alg_node.cpp b/src/obstacle_detection_normals_alg_node.cpp
similarity index 100%
rename from src/iri_nav_obstacle_detection_normals_alg_node.cpp
rename to src/obstacle_detection_normals_alg_node.cpp