diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0de5bc75c23fe439bc1cb54c0d8c79a88692e55a..977df09f7ceca94773e97fff4328ce6a7a64d977 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -6,7 +6,7 @@ project(iri_lidar_lite_driver)
 # ******************************************************************** 
 #                 Add catkin additional components here
 # ******************************************************************** 
-find_package(catkin REQUIRED COMPONENTS iri_base_driver roscpp roslib sensor_msgs)
+find_package(catkin REQUIRED COMPONENTS iri_base_driver sensor_msgs)
 
 ## System dependencies are found with CMake's conventions
 find_package(Boost REQUIRED COMPONENTS thread)
@@ -14,7 +14,10 @@ find_package(Boost REQUIRED COMPONENTS thread)
 # ******************************************************************** 
 #           Add system and labrobotica dependencies here
 # ******************************************************************** 
+
 find_package(lidar_lite REQUIRED)
+find_package(comm REQUIRED)
+find_package(iriutils REQUIRED)
 find_package(usb_i2c_adapter REQUIRED)
 
 # ******************************************************************** 
@@ -61,7 +64,7 @@ catkin_package(
 # ******************************************************************** 
 #            Add ROS and IRI ROS run time dependencies
 # ******************************************************************** 
- CATKIN_DEPENDS iri_base_driver roscpp roslib sensor_msgs
+ CATKIN_DEPENDS iri_base_driver sensor_msgs
 # ******************************************************************** 
 #      Add system and labrobotica run time dependencies here
 # ******************************************************************** 
@@ -92,8 +95,10 @@ endif()
 include_directories(include)
 include_directories(${catkin_INCLUDE_DIRS})
 include_directories(${Boost_INCLUDE_DIRS})
-include_directories(${lidar_lite_INCLUDE_DIR})
-include_directories(${usb_i2c_adapter_INCLUDE_DIR})
+include_directories(${lidar_lite_INCLUDE_DIRS})
+include_directories(${comm_INCLUDE_DIRS})
+include_directories(${iriutils_INCLUDE_DIRS})
+include_directories(${usb_i2c_adapter_INCLUDE_DIRS})
 # include_directories(${<dependency>_INCLUDE_DIR})
 
 ## Declare a cpp library
@@ -106,9 +111,11 @@ add_executable(${PROJECT_NAME} src/lidar_lite_driver.cpp src/lidar_lite_driver_n
 #                   Add the libraries
 # ******************************************************************** 
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
-target_link_libraries(${PROJECT_NAME} ${Boost_SYSTEM_LIBRARY})
-target_link_libraries(${PROJECT_NAME} ${lidar_lite_LIBRARY})
-target_link_libraries(${PROJECT_NAME} ${usb_i2c_adapter_LIBRARY})
+target_link_libraries(${PROJECT_NAME} ${Boost_SYSTEM_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${lidar_lite_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${comm_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${iriutils_LIBRARIES})
+target_link_libraries(${PROJECT_NAME} ${usb_i2c_adapter_LIBRARIES})
 # target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
 
 # ******************************************************************** 
diff --git a/package.xml b/package.xml
index 317f38497da4fa6199b98bc571d38fede0e6cca5..cb68b694e62aca4a39b386f648e8334f3af98456 100644
--- a/package.xml
+++ b/package.xml
@@ -1,14 +1,14 @@
 <?xml version="1.0"?>
-<package format="1">
+<package format="2">
   <name>iri_lidar_lite_driver</name>
-  <version>0.0.0</version>
+  <version>1.0.0</version>
   <description>The iri_lidar_lite_driver package</description>
 
-  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
   <maintainer email="asantamaria@iri.upc.edu">Angel Santamaria-Navarro</maintainer>
-
+  <maintainer email="labrobotica@iri.upc.edu">labrobotica</maintainer>
 
   <!-- One license tag required, multiple allowed, one license per tag -->
   <!-- Commonly used license strings: -->
@@ -16,44 +16,49 @@
   <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 -->
   <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/iri_lidar_lite_driver</url> -->
+  <!-- <url type="website">http://wiki.ros.org/iri_battery_monitor_driver</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="asantamaria@iri.upc.edu">Angel Santamaria-Navarro</author>
 
 
-  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- 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 run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_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>
-  <build_depend>dynamic_reconfigure</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>roslib</build_depend>
-  <build_depend>iri_base_driver</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>roslib</run_depend>
-  <run_depend>iri_base_driver</run_depend>
-  <run_depend>sensor_msgs</run_depend>
+  <depend>iri_base_driver</depend>
+  <!--<depend>battery_monitor</depend>-->
+  <depend>sensor_msgs</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