diff --git a/pointcloud_to_laserscan/CMakeLists.txt b/pointcloud_to_laserscan/CMakeLists.txt
index 076adb62..003aa9a8 100644
--- a/pointcloud_to_laserscan/CMakeLists.txt
+++ b/pointcloud_to_laserscan/CMakeLists.txt
@@ -13,7 +13,7 @@ find_package(PCL REQUIRED)
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES PointCloudToLaserScan PointCloudToLaserScanNodelet
+  LIBRARIES pointcloud_to_laserscan
   CATKIN_DEPENDS dynamic_reconfigure libpcl-all-dev message_filters nodelet pcl_ros roscpp sensor_msgs
 )
 
@@ -22,16 +22,13 @@ include_directories(
   ${catkin_INCLUDE_DIRS}
 )
 
-add_library(PointCloudToLaserScan src/PointCloudToLaserScanBase.cpp)
-target_link_libraries(PointCloudToLaserScan ${catkin_LIBRARIES})
+add_library(pointcloud_to_laserscan src/pointcloud_to_laserscan_base.cpp src/pointcloud_to_laserscan_nodelet.cpp)
+target_link_libraries(pointcloud_to_laserscan ${catkin_LIBRARIES})
 
-add_library(PointCloudToLaserScanNodelet src/PointCloudToLaserScanNodelet.cpp)
-target_link_libraries(PointCloudToLaserScanNodelet PointCloudToLaserScan ${catkin_LIBRARIES})
+add_executable(pointcloud_to_laserscan_node src/pointcloud_to_laserscan_node.cpp)
+target_link_libraries(pointcloud_to_laserscan_node pointcloud_to_laserscan ${catkin_LIBRARIES})
 
-add_executable(pointcloud_to_laserscan src/pointcloud_to_laserscan_node.cpp)
-target_link_libraries(pointcloud_to_laserscan PointCloudToLaserScan ${catkin_LIBRARIES})
-
-install(TARGETS PointCloudToLaserScan PointCloudToLaserScanNodelet pointcloud_to_laserscan
+install(TARGETS pointcloud_to_laserscan pointcloud_to_laserscan_node
 	RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 	ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
diff --git a/pointcloud_to_laserscan/include/pointcloud_to_laserscan/PointCloudToLaserScanBase.h b/pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_base.h
similarity index 100%
rename from pointcloud_to_laserscan/include/pointcloud_to_laserscan/PointCloudToLaserScanBase.h
rename to pointcloud_to_laserscan/include/pointcloud_to_laserscan/pointcloud_to_laserscan_base.h
diff --git a/pointcloud_to_laserscan/launch/sample_node.launch b/pointcloud_to_laserscan/launch/sample_node.launch
index 91f7f186..3161f0a9 100644
--- a/pointcloud_to_laserscan/launch/sample_node.launch
+++ b/pointcloud_to_laserscan/launch/sample_node.launch
@@ -10,7 +10,7 @@
     </include>
 
     <!-- run pointcloud_to_laserscan node -->
-    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan" name="pointcloud_to_laserscan">
+    <node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="pointcloud_to_laserscan">
 
         <param name="use_inf" value="true"/>
         <param name="use_concurrency" value="true"/>
diff --git a/pointcloud_to_laserscan/launch/sample_nodelet.launch b/pointcloud_to_laserscan/launch/sample_nodelet.launch
index bd4372a7..d8b00f99 100644
--- a/pointcloud_to_laserscan/launch/sample_nodelet.launch
+++ b/pointcloud_to_laserscan/launch/sample_nodelet.launch
@@ -10,7 +10,7 @@
     </include>
 
     <!-- push pointcloud_to_laserscan nodelet into sensor's nodelet manager-->
-    <node pkg="nodelet" type="nodelet" name="pointcloud_to_laserscan" args="load pointcloud_to_laserscan/PointCloudToLaserScanNodelet $(arg camera)_nodelet_manager">
+    <node pkg="nodelet" type="nodelet" name="pointcloud_to_laserscan" args="load pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet $(arg camera)_nodelet_manager">
 
         <param name="use_inf" value="true"/>
         <param name="use_concurrency" value="true"/>
diff --git a/pointcloud_to_laserscan/nodelets.xml b/pointcloud_to_laserscan/nodelets.xml
index c1143973..327a819e 100644
--- a/pointcloud_to_laserscan/nodelets.xml
+++ b/pointcloud_to_laserscan/nodelets.xml
@@ -1,6 +1,6 @@
-<library path="lib/libPointCloudToLaserScanNodelet">
+<library path="lib/libpointcloud_to_laserscan">
 
-  <class name="pointcloud_to_laserscan/PointCloudToLaserScanNodelet"
+  <class name="pointcloud_to_laserscan/pointcloud_to_laserscan_nodelet"
 	 type="pointcloud_to_laserscan::PointCloudToLaserScanNodelet"
 	 base_class_type="nodelet::Nodelet">
     <description>
diff --git a/pointcloud_to_laserscan/package.xml b/pointcloud_to_laserscan/package.xml
index 84af2eae..f6f0d7ce 100644
--- a/pointcloud_to_laserscan/package.xml
+++ b/pointcloud_to_laserscan/package.xml
@@ -30,5 +30,6 @@
     <run_depend>sensor_msgs</run_depend>
 
     <export>
+        <nodelet plugin="${prefix}/nodelets.xml"/>
     </export>
 </package>
\ No newline at end of file
diff --git a/pointcloud_to_laserscan/src/PointCloudToLaserScanBase.cpp b/pointcloud_to_laserscan/src/pointcloud_to_laserscan_base.cpp
similarity index 99%
rename from pointcloud_to_laserscan/src/PointCloudToLaserScanBase.cpp
rename to pointcloud_to_laserscan/src/pointcloud_to_laserscan_base.cpp
index dce3e669..40d2d840 100644
--- a/pointcloud_to_laserscan/src/PointCloudToLaserScanBase.cpp
+++ b/pointcloud_to_laserscan/src/pointcloud_to_laserscan_base.cpp
@@ -38,7 +38,7 @@
  * Author: Paul Bovbel
  */
 
-#include <pointcloud_to_laserscan/PointCloudToLaserScanBase.h>
+#include <pointcloud_to_laserscan/pointcloud_to_laserscan_base.h>
 #include <sensor_msgs/LaserScan.h>
 #include <pcl_ros/transforms.h>
 #include <math.h>
diff --git a/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp b/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp
index 76661bea..b8acb363 100644
--- a/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp
+++ b/pointcloud_to_laserscan/src/pointcloud_to_laserscan_node.cpp
@@ -39,7 +39,7 @@
  */
 
 #include <ros/ros.h>
-#include <pointcloud_to_laserscan/PointCloudToLaserScanBase.h>
+#include <pointcloud_to_laserscan/pointcloud_to_laserscan_base.h>
 
 int main(int argc, char **argv){
     ros::init(argc, argv, "pointcloud_to_laserscan");
diff --git a/pointcloud_to_laserscan/src/PointCloudToLaserScanNodelet.cpp b/pointcloud_to_laserscan/src/pointcloud_to_laserscan_nodelet.cpp
similarity index 97%
rename from pointcloud_to_laserscan/src/PointCloudToLaserScanNodelet.cpp
rename to pointcloud_to_laserscan/src/pointcloud_to_laserscan_nodelet.cpp
index b420ed1c..2ce17dd6 100644
--- a/pointcloud_to_laserscan/src/PointCloudToLaserScanNodelet.cpp
+++ b/pointcloud_to_laserscan/src/pointcloud_to_laserscan_nodelet.cpp
@@ -38,7 +38,7 @@
  * Author: Paul Bovbel
  */
 
-#include <pointcloud_to_laserscan/PointCloudToLaserScanBase.h>
+#include <pointcloud_to_laserscan/pointcloud_to_laserscan_base.h>
 #include <nodelet/nodelet.h>