diff --git a/CMakeLists.txt b/CMakeLists.txt
index d8d7458d12e133e962d722e06163c1c18ba716ca..0accf0122a954b6712d18a3cb0fc584916633521 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -99,9 +99,12 @@ generate_dynamic_reconfigure_options(
 ## LIBRARIES: libraries you create in this project that dependent projects also need
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
+set(module_name tiago_head_module)
+set(module_bt_name tiago_head_module_bt)
+
 catkin_package(
  INCLUDE_DIRS include
- LIBRARIES tiago_head_module
+ LIBRARIES ${module_name} ${module_bt_name}
  CATKIN_DEPENDS roscpp dynamic_reconfigure iri_ros_tools actionlib control_msgs geometry_msgs iri_base_algorithm iri_behaviortree
 
 #  DEPENDS system_lib
@@ -118,7 +121,7 @@ include_directories(${catkin_INCLUDE_DIRS})
 include_directories(${iriutils_INCLUDE_DIR})
 
 ## Declare a C++ library
-set(module_name tiago_head_module)
+#Module
 add_library(${module_name}
   src/tiago_head_module.cpp
 )
@@ -138,6 +141,7 @@ target_link_libraries(${module_name} ${catkin_LIBRARIES})
 target_link_libraries(${module_name} ${iriutils_LIBRARY})
 
 ## Declare a C++ executable
+#Client
 set(client_name tiago_head_client)
 add_executable(${client_name} src/tiago_head_client_alg.cpp src/tiago_head_client_alg_node.cpp)
 
@@ -148,7 +152,7 @@ target_link_libraries(${client_name} ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_LIB_
 add_dependencies(${client_name} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${module_name})
 add_dependencies(${client_name} ${tiago_head_client_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
-set(module_bt_name tiago_head_module_bt)
+#BT_Module
 add_library(${module_bt_name} src/tiago_head_bt_module.cpp)
 target_link_libraries(${module_bt_name} ${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_LIB_DESTINATION}/lib${module_name}.so)
 target_link_libraries(${module_bt_name} ${catkin_LIBRARIES})