diff --git a/robotiq_2f_gripper_action_server/CMakeLists.txt b/robotiq_2f_gripper_action_server/CMakeLists.txt
index 3afa78f6..0b578380 100644
--- a/robotiq_2f_gripper_action_server/CMakeLists.txt
+++ b/robotiq_2f_gripper_action_server/CMakeLists.txt
@@ -4,65 +4,65 @@ project(robotiq_2f_gripper_action_server)
 find_package(catkin REQUIRED COMPONENTS
   actionlib
   actionlib_msgs
-  message_generation
+  control_msgs
   robotiq_2f_gripper_control
   roscpp
-  control_msgs
 )
 
 catkin_package(
   INCLUDE_DIRS include
-  CATKIN_DEPENDS actionlib actionlib_msgs robotiq_2f_gripper_control roscpp
+  CATKIN_DEPENDS actionlib actionlib_msgs control_msgs robotiq_2f_gripper_control roscpp
 )
 
 include_directories(include)
 include_directories(
   ${catkin_INCLUDE_DIRS}
-  ${robotiq_2f_gripper_action_server_INCLUDE_DIRS}
+  ${${PROJECT_NAME}_INCLUDE_DIRS}
 )
 
 # The action server
-add_executable(robotiq_2f_gripper_action_server_node
-    src/robotiq_2f_gripper_action_server_node.cpp
-    src/robotiq_2f_gripper_action_server.cpp
-    include/robotiq_2f_gripper_action_server/robotiq_2f_gripper_action_server.h)
+add_executable(${PROJECT_NAME}_node
+  include/${PROJECT_NAME}/${PROJECT_NAME}.h
+  src/${PROJECT_NAME}.cpp
+  src/${PROJECT_NAME}_node.cpp
+)
 
-add_dependencies(robotiq_2f_gripper_action_server_node
-  robotiq_2f_gripper_action_server_generate_messages_cpp
-  ${robotiq_2f_gripper_action_server_EXPORTED_TARGETS}
+add_dependencies(${PROJECT_NAME}_node
+  ${PROJECT_NAME}_generate_messages_cpp
+  ${${PROJECT_NAME}_EXPORTED_TARGETS}
   ${robotiq_2f_gripper_control_EXPORTED_TARGETS})
 
- target_link_libraries(robotiq_2f_gripper_action_server_node
-   ${catkin_LIBRARIES}
- )
+target_link_libraries(${PROJECT_NAME}_node
+  ${catkin_LIBRARIES}
+)
 
  # The test server
-add_executable(robotiq_2f_gripper_action_server_client_test
-  src/robotiq_2f_gripper_action_server_client_test.cpp
+add_executable(${PROJECT_NAME}_client_test
+  src/${PROJECT_NAME}_client_test.cpp
 )
 
-add_dependencies(robotiq_2f_gripper_action_server_client_test
-  robotiq_2f_gripper_action_server_generate_messages_cpp
+add_dependencies(${PROJECT_NAME}_client_test
+  ${PROJECT_NAME}_generate_messages_cpp
   ${robotiq_action_server_EXPORTED_TARGETS})
 
- target_link_libraries(robotiq_2f_gripper_action_server_client_test
-   ${catkin_LIBRARIES}
- )
+target_link_libraries(${PROJECT_NAME}_client_test
+  ${catkin_LIBRARIES}
+)
 
 
-install(TARGETS robotiq_2f_gripper_action_server_node
+install(TARGETS ${PROJECT_NAME}_node
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
- )
+)
 
- install(TARGETS robotiq_2f_gripper_action_server_client_test
+install(TARGETS ${PROJECT_NAME}_client_test
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
- )
+)
 
 install(DIRECTORY include/${PROJECT_NAME}/
    DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
    FILES_MATCHING PATTERN "*.h"
- )
+)
diff --git a/robotiq_2f_gripper_control/CMakeLists.txt b/robotiq_2f_gripper_control/CMakeLists.txt
index 8b994b25..bb5a2853 100644
--- a/robotiq_2f_gripper_control/CMakeLists.txt
+++ b/robotiq_2f_gripper_control/CMakeLists.txt
@@ -1,13 +1,12 @@
 # http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
 cmake_minimum_required(VERSION 2.8.3)
 project(robotiq_2f_gripper_control)
-find_package(catkin REQUIRED COMPONENTS robotiq_ethercat roscpp rospy message_generation)
-
+find_package(catkin REQUIRED COMPONENTS message_generation robotiq_ethercat roscpp rospy)
 
 #set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 ###################################
 ## catkin message generation     ##
@@ -31,28 +30,27 @@ generate_messages()
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
-    CATKIN_DEPENDS rospy message_runtime roscpp robotiq_ethercat
-    INCLUDE_DIRS include
+  INCLUDE_DIRS include
+  CATKIN_DEPENDS message_runtime robotiq_ethercat roscpp rospy 
+  LIBRARIES ${robotiq_ethercat_LIBRARIES}
 )
 
-include_directories(include)
 include_directories(
+  include
   ${catkin_INCLUDE_DIRS}
-  ${robotiq_ethercat_INCLUDE_DIRS}
 )
 
 add_executable(robotiq_2f_gripper_ethercat_node
-  src/robotiq_2f_gripper_control/robotiq_2f_gripper_ethercat_node.cpp
-  src/robotiq_2f_gripper_control/robotiq_2f_gripper_ethercat_client.cpp
+  src/${PROJECT_NAME}/robotiq_2f_gripper_ethercat_client.cpp
+  src/${PROJECT_NAME}/robotiq_2f_gripper_ethercat_node.cpp
 )
 
 target_link_libraries(robotiq_2f_gripper_ethercat_node
-   ${robotiq_ethercat_LIBRARIES}
-   ${catkin_LIBRARIES}
-  
+  ${robotiq_ethercat_LIBRARIES}
+  ${catkin_LIBRARIES}
 )
 
-add_dependencies(robotiq_2f_gripper_ethercat_node robotiq_2f_gripper_control_generate_messages_cpp)
+add_dependencies(robotiq_2f_gripper_ethercat_node ${PROJECT_NAME}_generate_messages_cpp)
 
 #############
 ## Install ##
@@ -61,6 +59,20 @@ add_dependencies(robotiq_2f_gripper_ethercat_node robotiq_2f_gripper_control_gen
 # all install targets should use catkin DESTINATION variables
 # See http://ros.org/doc/groovy/api/catkin/html/adv_user_guide/variables.html
 
-install(PROGRAMS nodes/Robotiq2FGripperSimpleController.py nodes/Robotiq2FGripperStatusListener.py
-    nodes/Robotiq2FGripperTcpNode.py nodes/Robotiq2FGripperRtuNode.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
+install(
+  TARGETS robotiq_2f_gripper_ethercat_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(PROGRAMS nodes/Robotiq2FGripperRtuNode.py nodes/Robotiq2FGripperSimpleController.py nodes/Robotiq2FGripperStatusListener.py nodes/Robotiq2FGripperTcpNode.py 
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
+install(PROGRAMS src/${PROJECT_NAME}/robotiq_2f_gripper_ctrl.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
diff --git a/robotiq_2f_gripper_control/package.xml b/robotiq_2f_gripper_control/package.xml
index c96204a9..604f074f 100644
--- a/robotiq_2f_gripper_control/package.xml
+++ b/robotiq_2f_gripper_control/package.xml
@@ -2,7 +2,7 @@
 <package format="2">
   <name>robotiq_2f_gripper_control</name>
   <version>1.0.0</version>
-  <description>Package to control a 2-Finger Gripper from Robotiq inc.</description>
+  <description><p>Package to control a 2-Finger Gripper from Robotiq inc.</p></description>
   <maintainer email="ros@robotiq.com">Jean-Philippe Roberge</maintainer>
   <license>BSD</license>
   <url type="website">http://ros.org/wiki/robotiq</url>
diff --git a/robotiq_3f_gripper_articulated_gazebo_plugins/CMakeLists.txt b/robotiq_3f_gripper_articulated_gazebo_plugins/CMakeLists.txt
index 7490a381..095fe35f 100644
--- a/robotiq_3f_gripper_articulated_gazebo_plugins/CMakeLists.txt
+++ b/robotiq_3f_gripper_articulated_gazebo_plugins/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(robotiq_3f_gripper_articulated_gazebo_plugins)
 add_compile_options(-std=c++11)
 
-find_package(catkin REQUIRED COMPONENTS std_msgs gazebo_plugins actionlib tf image_transport control_msgs trajectory_msgs geometry_msgs sensor_msgs roscpp gazebo_ros robotiq_3f_gripper_articulated_msgs)
+find_package(catkin REQUIRED COMPONENTS actionlib angles control_msgs gazebo_msgs gazebo_plugins gazebo_ros geometry_msgs image_transport message_generation robotiq_3f_gripper_articulated_msgs roscpp sensor_msgs std_msgs tf trajectory_msgs)
 
 find_package(gazebo REQUIRED)
 
@@ -12,12 +12,12 @@ include_directories(
   ${GAZEBO_INCLUDE_DIRS}
 )
 
-link_directories(
-  ${GAZEBO_LIBRARY_DIRS}
-)
+#link_directories(
+#  ${GAZEBO_LIBRARY_DIRS}
+#)
 
 catkin_package(
-   DEPENDS gazebo_plugins gazebo_ros robotiq_3f_gripper_articulated_msgs roscpp
+   CATKIN_DEPENDS control_msgs gazebo_msgs geometry_msgs robotiq_3f_gripper_articulated_msgs sensor_msgs std_msgs trajectory_msgs
 )
 
 add_library(RobotiqHandPlugin src/RobotiqHandPlugin.cpp)
diff --git a/robotiq_3f_gripper_articulated_gazebo_plugins/package.xml b/robotiq_3f_gripper_articulated_gazebo_plugins/package.xml
index 3de27cc4..15b8149c 100644
--- a/robotiq_3f_gripper_articulated_gazebo_plugins/package.xml
+++ b/robotiq_3f_gripper_articulated_gazebo_plugins/package.xml
@@ -27,6 +27,7 @@
 
   <build_depend>angles</build_depend>
   <build_depend>message_generation</build_depend>
+  <build_depend>gazebo</build_depend>
 
   <exec_depend>message_runtime</exec_depend>
 
diff --git a/robotiq_3f_gripper_articulated_msgs/CMakeLists.txt b/robotiq_3f_gripper_articulated_msgs/CMakeLists.txt
index 5026310b..8e8c8bd5 100644
--- a/robotiq_3f_gripper_articulated_msgs/CMakeLists.txt
+++ b/robotiq_3f_gripper_articulated_msgs/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(robotiq_3f_gripper_articulated_msgs)
 
-find_package(catkin REQUIRED COMPONENTS std_msgs message_generation )
+find_package(catkin REQUIRED COMPONENTS message_generation std_msgs)
 
 add_message_files(
     FILES
@@ -15,7 +15,5 @@ generate_messages(
 )
 
 catkin_package(
-    DEPENDS std_msgs
+    CATKIN_DEPENDS message_runtime std_msgs
 )
-
-
diff --git a/robotiq_3f_gripper_articulated_msgs/package.xml b/robotiq_3f_gripper_articulated_msgs/package.xml
index fc25aa6d..d730e828 100644
--- a/robotiq_3f_gripper_articulated_msgs/package.xml
+++ b/robotiq_3f_gripper_articulated_msgs/package.xml
@@ -13,7 +13,6 @@
   <depend>std_msgs</depend>
 
   <build_depend>message_generation</build_depend>
-
   <exec_depend>message_runtime</exec_depend>
 
 </package>
diff --git a/robotiq_3f_gripper_control/CMakeLists.txt b/robotiq_3f_gripper_control/CMakeLists.txt
index 79baf9e4..ba35133c 100644
--- a/robotiq_3f_gripper_control/CMakeLists.txt
+++ b/robotiq_3f_gripper_control/CMakeLists.txt
@@ -6,12 +6,12 @@ find_package(catkin REQUIRED COMPONENTS
   diagnostic_updater
   dynamic_reconfigure
   hardware_interface
+  robotiq_3f_gripper_articulated_msgs
   robotiq_ethercat
   roscpp
   rospy
   socketcan_interface
   std_srvs
-  robotiq_3f_gripper_articulated_msgs
 )
 
 find_package(PkgConfig)
@@ -29,12 +29,12 @@ catkin_package(
         diagnostic_updater
         dynamic_reconfigure
         hardware_interface
+        robotiq_3f_gripper_articulated_msgs
         robotiq_ethercat
         roscpp
         rospy
         socketcan_interface
         std_srvs
-        robotiq_3f_gripper_articulated_msgs
 )
 
 include_directories(
@@ -68,8 +68,8 @@ target_link_libraries(robotiq_3f_gripper_ethercat_node
 )
 
 add_executable(robotiq_3f_gripper_can_node
-  src/${PROJECT_NAME}/robotiq_3f_gripper_can_client.cpp
   src/robotiq_3f_gripper_can_node.cpp
+  src/${PROJECT_NAME}/robotiq_3f_gripper_can_client.cpp
 )
 
 target_link_libraries(robotiq_3f_gripper_can_node
@@ -80,7 +80,7 @@ target_link_libraries(robotiq_3f_gripper_can_node
 install(PROGRAMS nodes/Robotiq3FGripperSimpleController.py nodes/Robotiq3FGripperStatusListener.py
         nodes/Robotiq3FGripperTcpNode.py DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-install(TARGETS ${PROJECT_NAME} robotiq_3f_gripper_can_node robotiq_3f_gripper_ethercat_node
+install(TARGETS robotiq_3f_gripper_can_node ${PROJECT_NAME} robotiq_3f_gripper_ethercat_node
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
diff --git a/robotiq_3f_gripper_control/package.xml b/robotiq_3f_gripper_control/package.xml
index 639ea9ab..6f0d25f9 100644
--- a/robotiq_3f_gripper_control/package.xml
+++ b/robotiq_3f_gripper_control/package.xml
@@ -2,7 +2,7 @@
 <package format="2">
   <name>robotiq_3f_gripper_control</name>
   <version>1.0.0</version>
-  <description>Package to control a 3F gripper Gripper from Robotiq inc.</description>
+  <description><p>Package to control a 3F gripper Gripper from Robotiq inc.</p></description>
   <maintainer email="ros@robotiq.com">Jean-Philippe Roberge</maintainer>
   <license>BSD</license>
   <url type="website">http://ros.org/wiki/robotiq</url>
diff --git a/robotiq_3f_gripper_joint_state_publisher/CMakeLists.txt b/robotiq_3f_gripper_joint_state_publisher/CMakeLists.txt
index 1449c931..90938ab3 100644
--- a/robotiq_3f_gripper_joint_state_publisher/CMakeLists.txt
+++ b/robotiq_3f_gripper_joint_state_publisher/CMakeLists.txt
@@ -2,12 +2,13 @@ cmake_minimum_required(VERSION 2.8.3)
 project(robotiq_3f_gripper_joint_state_publisher)
 
 ## Find catkin macros and libraries
-find_package(catkin REQUIRED
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+  robotiq_3f_gripper_control
   roscpp
   roslib
   sensor_msgs
-  robotiq_3f_gripper_control
-  )
+ )
 
 ###################################
 ## catkin specific configuration ##
@@ -18,7 +19,7 @@ find_package(catkin REQUIRED
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
- CATKIN_DEPENDS roscpp roslib sensor_msgs robotiq_3f_gripper_control
+ CATKIN_DEPENDS message_runtime robotiq_3f_gripper_control roscpp roslib sensor_msgs
 )
 
 ###########
diff --git a/robotiq_3f_gripper_visualization/CMakeLists.txt b/robotiq_3f_gripper_visualization/CMakeLists.txt
index 8a3b31b7..85e3f85f 100644
--- a/robotiq_3f_gripper_visualization/CMakeLists.txt
+++ b/robotiq_3f_gripper_visualization/CMakeLists.txt
@@ -1,7 +1,7 @@
 # http://ros.org/doc/groovy/api/catkin/html/user_guide/supposed.html
 cmake_minimum_required(VERSION 2.8.3)
 project(robotiq_3f_gripper_visualization)
-find_package(catkin REQUIRED urdf)
+find_package(catkin REQUIRED COMPONENTS urdf)
 catkin_package()
 install(DIRECTORY cfg DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/robotiq_3f_rviz/CMakeLists.txt b/robotiq_3f_rviz/CMakeLists.txt
index 8744a096..a2c07ad1 100644
--- a/robotiq_3f_rviz/CMakeLists.txt
+++ b/robotiq_3f_rviz/CMakeLists.txt
@@ -128,7 +128,7 @@ include_directories(
 # add_library(${PROJECT_NAME}
 #   src/${PROJECT_NAME}/robotiq_3f_rviz.cpp
 # )
-add_library(${PROJECT_NAME} src/robotiq_3f_rviz.cpp)
+add_library(${PROJECT_NAME} src/${PROJECT_NAME}.cpp)
 
 ## Add cmake target dependencies of the library
 ## as an example, code may need to be generated before libraries
diff --git a/robotiq_ethercat/CMakeLists.txt b/robotiq_ethercat/CMakeLists.txt
index 09bb757f..187fc103 100644
--- a/robotiq_ethercat/CMakeLists.txt
+++ b/robotiq_ethercat/CMakeLists.txt
@@ -2,14 +2,14 @@ cmake_minimum_required(VERSION 2.8.3)
 project(robotiq_ethercat)
 
 find_package(catkin REQUIRED COMPONENTS
-  soem
   roscpp
+  soem
 )
 
 catkin_package(
    INCLUDE_DIRS include
-   LIBRARIES robotiq_ethercat
-   CATKIN_DEPENDS soem roscpp
+   LIBRARIES ${PROJECT_NAME}
+   CATKIN_DEPENDS roscpp soem
 )
 
 include_directories(include
@@ -20,12 +20,12 @@ include_directories(include
   ${soem_INCLUDE_DIRS}/soem
 )
 
-add_library(robotiq_ethercat
- include/robotiq_ethercat/ethercat_manager.h
+add_library(${PROJECT_NAME}
+ include/${PROJECT_NAME}/ethercat_manager.h
  src/ethercat_manager.cpp
 )
 
-install(TARGETS robotiq_ethercat
+install(TARGETS ${PROJECT_NAME}
    ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
    RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
diff --git a/robotiq_ft_sensor/CMakeLists.txt b/robotiq_ft_sensor/CMakeLists.txt
index 25138092..24184351 100644
--- a/robotiq_ft_sensor/CMakeLists.txt
+++ b/robotiq_ft_sensor/CMakeLists.txt
@@ -2,9 +2,9 @@ cmake_minimum_required(VERSION 2.8.3)
 project(robotiq_ft_sensor)
 
 find_package(catkin REQUIRED COMPONENTS
+  message_generation
   roscpp
   std_msgs
-  message_generation
 )
 
 
diff --git a/robotiq_ft_sensor/package.xml b/robotiq_ft_sensor/package.xml
index b54dedaf..a3638a12 100644
--- a/robotiq_ft_sensor/package.xml
+++ b/robotiq_ft_sensor/package.xml
@@ -2,7 +2,7 @@
 <package format="2">
   <name>robotiq_ft_sensor</name>
   <version>1.0.0</version>
-  <description>Package for reading data from a Robotiq Force Torque Sensor</description>
+  <description><p>Package for reading data from a Robotiq Force Torque Sensor</p></description>
   <maintainer email="ros@robotiq.com">Jean-Philippe Roberge</maintainer>
   <author email="jsavoie20@gmail.com">Jonathan Savoie</author>
   <url type="website">http://ros.org/wiki/robotiq</url>
diff --git a/robotiq_modbus_rtu/CMakeLists.txt b/robotiq_modbus_rtu/CMakeLists.txt
index aa57b23b..afad4139 100644
--- a/robotiq_modbus_rtu/CMakeLists.txt
+++ b/robotiq_modbus_rtu/CMakeLists.txt
@@ -4,9 +4,9 @@ project(robotiq_modbus_rtu)
 find_package(catkin REQUIRED COMPONENTS rospy)
 
 #set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 catkin_python_setup()
 
diff --git a/robotiq_modbus_tcp/CMakeLists.txt b/robotiq_modbus_tcp/CMakeLists.txt
index 63f5c2c5..22a9a157 100644
--- a/robotiq_modbus_tcp/CMakeLists.txt
+++ b/robotiq_modbus_tcp/CMakeLists.txt
@@ -4,9 +4,9 @@ project(robotiq_modbus_tcp)
 find_package(catkin REQUIRED COMPONENTS rospy)
 
 #set the default path for built executables to the "bin" directory
-set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
+#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 #set the default path for built libraries to the "lib" directory
-set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
+#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 catkin_python_setup()