diff --git a/CMakeLists.txt b/CMakeLists.txt
index f1eeb48..3a3d51a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,54 +1,62 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(segway_rmp)
-# Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED COMPONENTS roscpp tf message_generation geometry_msgs nav_msgs serial)
-
-# libsegwyarmp provides segwayrmp and ftd2xx
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(LIBSEGWAYRMP REQUIRED libsegwayrmp)
-find_library(LIBSEGWAYRMP_LIBRARY
-  NAMES segwayrmp
-  PATHS ${LIBSEGWAYRMP_LIBRARY_DIRS}
-)
-find_library(LIBFTD2XX_LIBRARY
-  NAMES ftd2xx
-  PATHS ${LIBSEGWAYRMP_LIBRARY_DIRS}
+
+find_package(catkin REQUIRED
+  COMPONENTS
+    geometry_msgs
+    message_generation
+    message_runtime
+    nav_msgs
+    roscpp
+    serial
+    std_msgs
+    tf
 )
 
-#set the default path for built executables to the "bin" directory
-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)
+find_package(Boost REQUIRED COMPONENTS system thread)
+
+find_package(libsegwayrmp REQUIRED)
 
-#uncomment if you have defined messages
 add_message_files(
   DIRECTORY msg
   FILES SegwayStatus.msg SegwayStatusStamped.msg
 )
 
-## Generate added messages and services with any dependencies listed here
-generate_messages(
-  DEPENDENCIES std_msgs
+generate_messages(DEPENDENCIES std_msgs)
+
+include_directories(
+  ${Boost_INCLUDE_DIRS}
+  ${libsegwayrmp_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
 )
 
-include_directories(${Boost_INCLUDE_DIRS} ${LIBSEGWAYRMP_INCLUDE_DIRS})
+catkin_package(
+  DEPENDS libsegwayrmp
+  CATKIN_DEPENDS
+    geometry_msgs
+    nav_msgs
+    roscpp
+    serial
+    std_msgs
+    tf
+)
 
 add_executable(segway_rmp_node src/segway_rmp_node.cpp)
-find_package(Boost REQUIRED COMPONENTS system thread)
 
-target_link_libraries(
-  segway_rmp_node 
-  ${Boost_LIBRARIES} 
-  ${LIBSEGWAYRMP_LIBRARY} 
-  ${LIBFTD2XX_LIBRARY} 
+message("libsegwayrmp_LIBRARIES: ${libsegwayrmp_LIBRARIES}")
+
+target_link_libraries(segway_rmp_node
+  ${Boost_LIBRARIES}
+  ${libsegwayrmp_LIBRARIES}
   ${catkin_LIBRARIES}
 )
 
-## DEPENDS: system dependencies of this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## INCLUDE_DIRS: 
-## LIBRARIES: libraries you create in this project that dependent projects also need
-catkin_package(
-    DEPENDS libsegwayrmp
-    CATKIN_DEPENDS roscpp tf geometry_msgs nav_msgs std_msgs serial
+install(TARGETS segway_rmp_node
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
 )
diff --git a/mainpage.dox b/mainpage.dox
deleted file mode 100644
index 0d8adb4..0000000
--- a/mainpage.dox
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b segway_rmp200 is ... 
-
-<!-- 
-Provide an overview of your package.
--->
-
-
-\section codeapi Code API
-
-<!--
-Provide links to specific auto-generated API documentation within your
-package that is of particular interest to a reader. Doxygen will
-document pretty much every part of your code, so do your best here to
-point the reader to the actual API.
-
-If your codebase is fairly large or has different sets of APIs, you
-should use the doxygen 'group' tag to keep these APIs together. For
-example, the roscpp documentation has 'libros' group.
--->
-
-
-*/
diff --git a/package.xml b/package.xml
index 2fa0d9f..ec3de97 100644
--- a/package.xml
+++ b/package.xml
@@ -6,6 +6,7 @@
   <license>BSD</license>
 
   <url type="website">http://ros.org/wiki/segway_rmp</url>
+  <url type="repository">https://github.com/segwayrmp/segway-rmp-ros-pkg</url>
   <url type="bugtracker">https://github.com/segwayrmp/segway-rmp-ros-pkg/issues</url>
 
   <maintainer email="wjwwood@gmail.com">William Woodall</maintainer>
@@ -14,25 +15,22 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>message_generation</build_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>tf</build_depend>
   <build_depend>geometry_msgs</build_depend>
-  <build_depend>nav_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
   <build_depend>libsegwayrmp</build_depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
   <build_depend>serial</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>tf</build_depend>
 
-  <run_depend>message_runtime</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>tf</run_depend>
   <run_depend>geometry_msgs</run_depend>
-  <run_depend>nav_msgs</run_depend>
-  <run_depend>std_msgs</run_depend>
   <run_depend>libsegwayrmp</run_depend>
+  <run_depend>message_runtime</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
   <run_depend>serial</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>tf</run_depend>
 
-  <export>
-
-  </export>
 </package>
diff --git a/segway_rmp.rosinstall b/segway_rmp.rosinstall
deleted file mode 100644
index c02f962..0000000
--- a/segway_rmp.rosinstall
+++ /dev/null
@@ -1,12 +0,0 @@
-- git:
-    local-name: 'segway_rmp'
-    uri: 'https://github.com/segwayrmp/segway-rmp-ros-pkg.git'
-    version: 'master'
-- git:
-    local-name: 'libsegwayrmp'
-    uri: 'https://github.com/segwayrmp/libsegwayrmp.git'
-    version: 'master'
-- git:
-    local-name: 'serial'
-    uri: 'https://github.com/wjwwood/serial.git'
-    version: 'v1.0'