diff --git a/package.xml b/package.xml
index 43bebf3670d65acbb26229616af5f2fd246e73b5..1ad90b04cdc95a335dc70b5124dacb28e739ad25 100644
--- a/package.xml
+++ b/package.xml
@@ -1,54 +1,66 @@
 <?xml version="1.0"?>
-<package>
+<package format="2">
   <name>iri_safe_cmd</name>
-  <version>1.0.0</version>
-  <description>This node takes the cmd_vel input and depending on front and/or rear LaserScan lectures and the command, stops the platform or lets it go</description>
+  <version>0.0.0</version>
+  <description>This node takes the cmd_vel input and depending on front and/or rear LaserScan lectures and the command, stops the platform or lets it go.</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="labrobotica@iri.upc.edu">IRI_labrobotica</maintainer>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
-  <maintainer email="labrobotica@iri.upc.edu">labrobotica</maintainer>
-  <maintainer email="mmorta@iri.upc.edu">Marti Morta</maintainer>
 
   <!-- One license tag required, multiple allowed, one license per tag -->
   <!-- Commonly used license strings: -->
   <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
   <license>LGPL</license>
 
-  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
   <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <url type="website">http://wiki.ros.org/iri_safe_cmd</url>
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/iri_maps</url> -->
 
-  <!-- Author tags are optional, mutiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintianers, but could be -->
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
   <author email="mmorta@iri.upc.edu">Marti Morta</author>
 
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- ****************************************************************** -->
-  <!--                 Place build dependencies here                      -->
-  <!-- ****************************************************************** -->
-  <build_depend>iriutils</build_depend>
-  <build_depend>iri_base_algorithm</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <build_depend>tf</build_depend>
-  <build_depend>laser_geometry</build_depend>
-
-  <!-- ****************************************************************** -->
-  <!--                   Place run dependencies here                      -->
-  <!-- ****************************************************************** -->
-  <run_depend>iriutils</run_depend>
-  <run_depend>iri_base_algorithm</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>sensor_msgs</run_depend>
-  <run_depend>tf</run_depend>
-  <run_depend>laser_geometry</run_depend>
 
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <depend>iri_base_algorithm</depend>
+  <depend>geometry_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>tf</depend>
+  <depend>laser_geometry</depend>
+  
+
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
     <!-- Other tools can request additional information be placed here -->
+
   </export>
-</package>
+</package>
\ No newline at end of file