diff --git a/mycobot_280/launch/detect_marker.launch b/mycobot_280/launch/detect_marker.launch
index f2e5686..dec163d 100644
--- a/mycobot_280/launch/detect_marker.launch
+++ b/mycobot_280/launch/detect_marker.launch
@@ -6,11 +6,10 @@
 	<arg name="num" default="0" />
 
     <include file="$(find mycobot_280)/launch/slider_control.launch">
-		<arg name="model" value="$(arg model)" />	
-		<arg name="rvizconfig" value="$(arg rvizconfig)" />	
-		<arg name="gui" value="$(arg gui)" />	
+		<arg name="model" value="$(arg model)" />
+		<arg name="rvizconfig" value="$(arg rvizconfig)" />
+		<arg name="gui" value="$(arg gui)" />
     </include>
-	<!-- <node name="real_listener" pkg="mycobot_ros" type="listen_real.py" /> -->
 	<node name="opencv_camera" pkg="mycobot_280" type="opencv_camera" args="$(arg num)"/>
 	<node name="detect_marker" pkg="mycobot_280" type="detect_marker.py" />
 	<node name="following_marker" pkg="mycobot_280" type="following_marker.py" />
diff --git a/mycobot_280/launch/test.launch b/mycobot_280/launch/test.launch
index c86214d..e31968c 100644
--- a/mycobot_280/launch/test.launch
+++ b/mycobot_280/launch/test.launch
@@ -1,14 +1,14 @@
 <launch>
-	<arg name="model" default="$(find mycobot_ros)/urdf/mycobot/mycobot_with_vision.urdf"/>
-	<arg name="rvizconfig" default="$(find mycobot_ros)/config/mycobot.rviz" />
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_vision.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
 	<arg name="gui" default="true" />
 
 	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
 
 	<!-- Combinejoin values to TF -->
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> 
-		<param name="use_gui" value="$(arg gui)" />	
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+		<param name="use_gui" value="$(arg gui)" />
 		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
 	</node>
 	<!-- Show in Rviz -->
diff --git a/mycobot_280/scripts/detect_marker.py b/mycobot_280/scripts/detect_marker.py
index 1eb5628..c379bf6 100755
--- a/mycobot_280/scripts/detect_marker.py
+++ b/mycobot_280/scripts/detect_marker.py
@@ -7,7 +7,7 @@ from sensor_msgs.msg import Image
 import tf
 from tf.broadcaster import TransformBroadcaster
 import tf_conversions
-from mycobot_ros.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
+from mycobot_description.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
 
 
 class ImageConverter:
diff --git a/mycobot_280/scripts/follow_and_pump.py b/mycobot_280/scripts/follow_and_pump.py
index 33b28a5..b4f2565 100755
--- a/mycobot_280/scripts/follow_and_pump.py
+++ b/mycobot_280/scripts/follow_and_pump.py
@@ -4,7 +4,7 @@ from visualization_msgs.msg import Marker
 import time
 import random
 
-from mycobot_ros.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
+from mycobot_description.msg import MycobotSetAngles, MycobotSetCoords, MycobotPumpStatus
 
 
 rospy.init_node("gipper_subscriber", anonymous=True)
diff --git a/mycobot_280/scripts/listen_real.py b/mycobot_280/scripts/listen_real.py
index 962f168..f3638d6 100755
--- a/mycobot_280/scripts/listen_real.py
+++ b/mycobot_280/scripts/listen_real.py
@@ -6,7 +6,7 @@ import math
 import rospy
 from sensor_msgs.msg import JointState
 from std_msgs.msg import Header
-from mycobot_ros.srv import GetAngles
+from mycobot_description.srv import GetAngles
 
 
 def talker():
diff --git a/mycobot_280/scripts/listen_real_of_topic.py b/mycobot_280/scripts/listen_real_of_topic.py
index caabe5f..6439e56 100755
--- a/mycobot_280/scripts/listen_real_of_topic.py
+++ b/mycobot_280/scripts/listen_real_of_topic.py
@@ -6,7 +6,7 @@ import math
 import rospy
 from sensor_msgs.msg import JointState
 from std_msgs.msg import Header
-from mycobot_ros.msg import MycobotAngles
+from mycobot_description.msg import MycobotAngles
 
 
 class Listener(object):
diff --git a/mycobot_280/scripts/teleop_keyboard.py b/mycobot_280/scripts/teleop_keyboard.py
index 57e5ea9..ac66bff 100755
--- a/mycobot_280/scripts/teleop_keyboard.py
+++ b/mycobot_280/scripts/teleop_keyboard.py
@@ -10,8 +10,6 @@ import time
 
 import roslib
 
-# roslib.load_manifest("mycobot_ros")
-
 
 msg = """\
 Mycobot Teleop Keyboard Controller
diff --git a/mycobot_description/CMakeLists.txt b/mycobot_description/CMakeLists.txt
index c1925ba..e0f0ae5 100644
--- a/mycobot_description/CMakeLists.txt
+++ b/mycobot_description/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 2.8.3)
 project(mycobot_description)
 
 ## Compile as C++11, supported in ROS Kinetic and newer