diff --git a/industrial_deprecated/CMakeLists.txt b/industrial_deprecated/CMakeLists.txt
index 4f12be2e..af9ff096 100644
--- a/industrial_deprecated/CMakeLists.txt
+++ b/industrial_deprecated/CMakeLists.txt
@@ -9,7 +9,7 @@ find_package(catkin REQUIRED COMPONENTS rosgraph_msgs rospy)
 find_package(Boost REQUIRED COMPONENTS system)
 
 # Python setup
-catkin_python_setup()
+#catkin_python_setup()
 
 #Add unit test to check roslaunch dependencies.
 #rosbuild_add_roslaunch_check(launch)
diff --git a/industrial_deprecated/setup.py b/industrial_deprecated/setup.py
deleted file mode 100644
index 6ccc30a3..00000000
--- a/industrial_deprecated/setup.py
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/usr/bin/env python
-
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
-
-d = generate_distutils_setup(
-   ##  don't do this unless you want a globally visible script
-   scripts=['scripts/fake_time.py'],
-   packages=['industrial_deprecated'],
-   package_dir={'': 'src'}
-)
-
-setup(**d)
diff --git a/industrial_robot_simulator/CMakeLists.txt b/industrial_robot_simulator/CMakeLists.txt
index faec58fe..e285f4e6 100644
--- a/industrial_robot_simulator/CMakeLists.txt
+++ b/industrial_robot_simulator/CMakeLists.txt
@@ -5,7 +5,7 @@ project(industrial_robot_simulator)
 find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs control_msgs trajectory_msgs industrial_robot_client)
 
 # Python setup
-catkin_python_setup()
+#catkin_python_setup()
 
 ###################################
 ## catkin specific configuration ##
diff --git a/industrial_robot_simulator/setup.py b/industrial_robot_simulator/setup.py
deleted file mode 100644
index bfb26364..00000000
--- a/industrial_robot_simulator/setup.py
+++ /dev/null
@@ -1,13 +0,0 @@
-#!/usr/bin/env python
-
-from distutils.core import setup
-from catkin_pkg.python_setup import generate_distutils_setup
-
-d = generate_distutils_setup(
-   ##  don't do this unless you want a globally visible script
-   scripts=['industrial_robot_simulator'],
-   packages=['industrial_robot_simulator'],
-   package_dir={'': ''}
-)
-
-setup(**d)
diff --git a/simple_message/CMakeLists.txt b/simple_message/CMakeLists.txt
index cad93da2..f24a4dbd 100644
--- a/simple_message/CMakeLists.txt
+++ b/simple_message/CMakeLists.txt
@@ -15,32 +15,36 @@ set(ROS_BUILD_SHARED_LIBS false)
 add_definitions(-DROS=1)  #build using ROS libraries
 add_definitions(-DLINUXSOCKETS=1)  #use linux sockets for communication
 
-set(SRC_FILES 	src/byte_array.cpp
-		src/simple_message.cpp
-		src/smpl_msg_connection.cpp
-	
-		src/socket/simple_socket.cpp
-		src/socket/udp_socket.cpp
-		src/socket/udp_client.cpp
-		src/socket/udp_server.cpp
-		src/socket/tcp_socket.cpp
-		src/socket/tcp_client.cpp
-		src/socket/tcp_server.cpp
-	
-		src/message_handler.cpp
-		src/message_manager.cpp
-		src/ping_handler.cpp
-		src/ping_message.cpp
-		src/joint_data.cpp
-		src/joint_traj_pt.cpp
-		src/joint_traj.cpp
-		src/robot_status.cpp
-	
-		src/messages/joint_message.cpp
-		src/messages/joint_traj_pt_message.cpp
-		src/messages/robot_status_message.cpp
-	
-		src/simple_comms_fault_handler.cpp)
+set(SRC_FILES src/byte_array.cpp
+	src/simple_message.cpp
+	src/smpl_msg_connection.cpp
+
+	src/socket/simple_socket.cpp
+	src/socket/udp_socket.cpp
+	src/socket/udp_client.cpp
+	src/socket/udp_server.cpp
+	src/socket/tcp_socket.cpp
+	src/socket/tcp_client.cpp
+	src/socket/tcp_server.cpp
+
+	src/message_handler.cpp
+	src/message_manager.cpp
+	src/ping_handler.cpp
+	src/ping_message.cpp
+	src/joint_data.cpp
+	src/joint_feedback.cpp
+	src/joint_traj_pt.cpp
+	src/joint_traj_pt_full.cpp
+	src/joint_traj.cpp
+	src/robot_status.cpp
+
+	src/messages/joint_message.cpp
+	src/messages/joint_feedback_message.cpp
+	src/messages/joint_traj_pt_message.cpp
+	src/messages/joint_traj_pt_full_message.cpp
+	src/messages/robot_status_message.cpp
+
+	src/simple_comms_fault_handler.cpp)
 					
 set(UTEST_SRC_FILES test/utest.cpp test/utest_message.cpp)