diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6d5ecc1bea7a74dee99e515d19b8c0e5d9ccd3ab..79190a0ef8244b5dc0064a8433c0f48fb00824c9 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,7 +6,7 @@ find_package(catkin REQUIRED)
 # ******************************************************************** 
 #                 Add catkin additional components here
 # ******************************************************************** 
-find_package(catkin REQUIRED COMPONENTS iri_base_driver sensor_msgs)
+find_package(catkin REQUIRED COMPONENTS iri_base_driver roscpp sensor_msgs)
 
 ## System dependencies are found with CMake's conventions
 find_package(Boost REQUIRED COMPONENTS thread)
@@ -61,11 +61,11 @@ catkin_package(
 # ******************************************************************** 
 #            Add ROS and IRI ROS run time dependencies
 # ******************************************************************** 
- CATKIN_DEPENDS iri_base_driver sensor_msgs
+ CATKIN_DEPENDS iri_base_driver roscpp sensor_msgs
 # ******************************************************************** 
 #      Add system and labrobotica run time dependencies here
 # ******************************************************************** 
- DEPENDS lidar_lite usb_i2c_adapter
+ DEPENDS 
 )
 
 ###########
diff --git a/cfg/LidarLiteDriver.cfg b/cfg/LidarLiteDriver.cfg
index cfbf14a5369387be18901005faa3b48a9e31492d..5ad6986698f82542b9d2249f25b86f985e15b6e8 100755
--- a/cfg/LidarLiteDriver.cfg
+++ b/cfg/LidarLiteDriver.cfg
@@ -31,9 +31,9 @@
 
 # Author: 
 
-PACKAGE='iri_lidar_lite'
+PACKAGE='iri_lidar_lite_driver'
 
-from driver_base.msg import SensorLevels
+from iri_base_driver.msg import SensorLevels
 from dynamic_reconfigure.parameter_generator_catkin import *
 
 gen = ParameterGenerator()
diff --git a/include/lidar_lite_driver.h b/include/lidar_lite_driver.h
index b0e17a55c0ffc39caf23d262894b20060cc4efb5..64083ecf76d0827bb446a1cc9d0de0fec81d298c 100644
--- a/include/lidar_lite_driver.h
+++ b/include/lidar_lite_driver.h
@@ -28,7 +28,7 @@
 #define _lidar_lite_driver_h_
 
 #include <iri_base_driver/iri_base_driver.h>
-#include <iri_lidar_lite/LidarLiteConfig.h>
+#include <iri_lidar_lite_driver/LidarLiteConfig.h>
 
 #include <iridrivers/lidar_lite.h>
 #include <iridrivers/lidar_lite_exceptions.h>
@@ -70,7 +70,7 @@ public:
    * Define a Config type with the LidarLiteConfig. All driver implementations
    * will then use the same variable type Config.
    */
-  typedef iri_lidar_lite::LidarLiteConfig Config;
+  typedef iri_lidar_lite_driver::LidarLiteConfig Config;
 
   /**
    * \brief config variable
diff --git a/package.xml b/package.xml
index d49a4a491fec14a0a119c2c63d1dd04ddd7a9cc8..66990d94343a0927289a3ae4788214c93b3b05eb 100644
--- a/package.xml
+++ b/package.xml
@@ -42,8 +42,10 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>iri_base_driver</build_depend>
   <build_depend>sensor_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
   <run_depend>iri_base_driver</run_depend>
   <run_depend>sensor_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/src/lidar_lite_driver.cpp b/src/lidar_lite_driver.cpp
index a137c01d1d29c1a4a8ab7fc1291961c97b348fe8..16d448eafb6d63e1cb33ee2996233fd3b13ad6a7 100644
--- a/src/lidar_lite_driver.cpp
+++ b/src/lidar_lite_driver.cpp
@@ -58,13 +58,13 @@ LidarLiteDriver::config_update(Config& new_cfg, uint32_t level)
   // depending on current state
   // update driver with new_cfg data
   switch (this->getState()) {
-    case LidarLiteDriver::CLOSED:
+    case iri_base_driver::CLOSED:
       break;
 
-    case LidarLiteDriver::OPENED:
+    case iri_base_driver::OPENED:
       break;
 
-    case LidarLiteDriver::RUNNING:
+    case iri_base_driver::RUNNING:
 
       this->config_mode_ = new_cfg.Config_mode;
 
diff --git a/src/lidar_lite_driver_node.cpp b/src/lidar_lite_driver_node.cpp
index 92b6a28c59146191e8c5cd9b0a0a9044779e10dd..3ab56951a45a3217226a77040f0ba710762a9f90 100644
--- a/src/lidar_lite_driver_node.cpp
+++ b/src/lidar_lite_driver_node.cpp
@@ -7,7 +7,7 @@ LidarLiteDriverNode::LidarLiteDriverNode(ros::NodeHandle& nh)
   // , RunThread_(true)
   // , Thread_(boost::bind(&LidarLiteDriverNode::ThreadFunc, this))
 {
-  this->loop_rate_ = 30; // [Hz]
+  this->setRate(30);
 
   // Read from launch file
   std::string serial;
@@ -67,7 +67,7 @@ void
 LidarLiteDriverNode::mainNodeThread(void)
 {
   /* code */
-  if (this->driver_.getState() == LidarLiteDriver::RUNNING) {
+  if (this->driver_.isRunning()) {
 
     // Get measurement
     this->driver_.lock();
@@ -139,6 +139,5 @@ LidarLiteDriverNode::~LidarLiteDriverNode(void)
 int
 main(int argc, char* argv[])
 {
-  return driver_base::main<LidarLiteDriverNode>(argc, argv,
-                                                "lidar_lite_driver_node");
+  return iri_base_driver::main<LidarLiteDriverNode>(argc, argv,"lidar_lite_driver_node");
 }