diff --git a/CMakeLists.txt b/CMakeLists.txt
index c250d3c654a732cd0dc24683573653f6ef8f0ebe..a0d473bac9d596a313bf577a81f0dce9e28834a2 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_hole_detection)
+project(iri_nav_hole_detection)
 
 ## Find catkin macros and libraries
 #find_package(catkin REQUIRED)
diff --git a/cfg/HoleDetection.cfg b/cfg/HoleDetection.cfg
index 37c7a06b04549865e84be6ac9eac2a2849e196d3..22986f7989ffc339da7d1c07eb65f10ab24689bd 100755
--- a/cfg/HoleDetection.cfg
+++ b/cfg/HoleDetection.cfg
@@ -31,7 +31,7 @@
 
 # Author:
 
-PACKAGE='iri_hole_detection'
+PACKAGE='iri_nav_hole_detection'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 
diff --git a/include/hole_detection_alg.h b/include/hole_detection_alg.h
index 2b15b26c4bfeed2f9f4701b6f954fdc1ffcad800..af042b73c6b5e9dc4b8308ba5d7fb4e24042e9e5 100644
--- a/include/hole_detection_alg.h
+++ b/include/hole_detection_alg.h
@@ -22,10 +22,10 @@
 // refer to the IRI wiki page for more information:
 // http://wikiri.upc.es/index.php/Robotics_Lab
 
-#ifndef _hole_detection_alg_h_
-#define _hole_detection_alg_h_
+#ifndef _iri_nav_hole_detection_alg_h_
+#define _iri_nav_hole_detection_alg_h_
 
-#include <iri_hole_detection/HoleDetectionConfig.h>
+#include <iri_nav_hole_detection/HoleDetectionConfig.h>
 #include "mutex.h"
 
 #include <pcl_ros/point_cloud.h>
diff --git a/include/hole_detection_alg_node.h b/include/hole_detection_alg_node.h
index 508faea6f15b2f6ed37b2e5bbb72446387020423..354505ed7892afbb344b956e4a97f8d85ad89be5 100644
--- a/include/hole_detection_alg_node.h
+++ b/include/hole_detection_alg_node.h
@@ -22,11 +22,11 @@
 // refer to the IRI wiki page for more information:
 // http://wikiri.upc.es/index.php/Robotics_Lab
 
-#ifndef _hole_detection_alg_node_h_
-#define _hole_detection_alg_node_h_
+#ifndef _iri_nav_hole_detection_alg_node_h_
+#define _iri_nav_hole_detection_alg_node_h_
 
 #include <iri_base_algorithm/iri_base_algorithm.h>
-#include "hole_detection_alg.h"
+#include "iri_nav_hole_detection_alg.h"
 
 #include <ros/ros.h>
 //#include <ros/publisher.h>
diff --git a/package.xml b/package.xml
index 373dba09a09213c67a389fc69b601454a18b246e..7e51220cff94a0e86badeefd7f2089587076821e 100644
--- a/package.xml
+++ b/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package>
-  <name>iri_hole_detection</name>
+  <name>iri_nav_hole_detection</name>
   <version>1.0.0</version>
-  <description>iri_hole_detection</description>
+  <description>iri_nav_hole_detection</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag --> 
   <!-- Example:  -->
diff --git a/src/hole_detection_alg.cpp b/src/iri_nav_hole_detection_alg.cpp
similarity index 98%
rename from src/hole_detection_alg.cpp
rename to src/iri_nav_hole_detection_alg.cpp
index 4ec39be85efb1fe1792bfd68216cec76cabefc59..f72fbbbff43404275ea5b8788265804260d5a8e9 100644
--- a/src/hole_detection_alg.cpp
+++ b/src/iri_nav_hole_detection_alg.cpp
@@ -1,4 +1,4 @@
-#include "hole_detection_alg.h"
+#include "iri_nav_hole_detection_alg.h"
 using namespace std;
 
 HoleDetectionAlgorithm::HoleDetectionAlgorithm(void)
diff --git a/src/hole_detection_alg_node.cpp b/src/iri_nav_hole_detection_alg_node.cpp
similarity index 98%
rename from src/hole_detection_alg_node.cpp
rename to src/iri_nav_hole_detection_alg_node.cpp
index b34c54bdb65cf544f7201d049e2f5b868309f356..5159593f36cb2bb23300e595529d90b009e824ce 100644
--- a/src/hole_detection_alg_node.cpp
+++ b/src/iri_nav_hole_detection_alg_node.cpp
@@ -1,4 +1,4 @@
-#include "hole_detection_alg_node.h"
+#include "iri_nav_hole_detection_alg_node.h"
 
 HoleDetectionAlgNode::HoleDetectionAlgNode(void) :
   algorithm_base::IriBaseAlgorithm<HoleDetectionAlgorithm>(),hole_min_p(60),box_z_end(0),box_x_ini(1),
@@ -136,5 +136,5 @@ void HoleDetectionAlgNode::addNodeDiagnostics(void)
 /* main function */
 int main(int argc,char *argv[])
 {
-  return algorithm_base::main<HoleDetectionAlgNode>(argc, argv, "hole_detection_alg_node");
+  return algorithm_base::main<HoleDetectionAlgNode>(argc, argv, "iri_nav_hole_detection_alg_node");
 }