diff --git a/.cproject b/.cproject
index 3483db66..07688c95 100644
--- a/.cproject
+++ b/.cproject
@@ -20,7 +20,7 @@
 					<folderInfo id="0.250647335." name="/" resourcePath="">
 						<toolChain id="org.eclipse.cdt.build.core.prefbase.toolchain.1185920931" name="No ToolChain" resourceTypeBasedDiscovery="false" superClass="org.eclipse.cdt.build.core.prefbase.toolchain">
 							<targetPlatform id="org.eclipse.cdt.build.core.prefbase.toolchain.1185920931.1819283928" name=""/>
-							<builder arguments="VERBOSE=true -j4" buildPath="${ProjDirPath}/../../build/rtabmap" command="make" id="org.eclipse.cdt.build.core.settings.default.builder.425794023" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
+							<builder arguments="VERBOSE=true -j4" buildPath="${ProjDirPath}/../../build/rtabmap_ros" command="make" id="org.eclipse.cdt.build.core.settings.default.builder.425794023" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="org.eclipse.cdt.build.core.settings.default.builder"/>
 							<tool id="org.eclipse.cdt.build.core.settings.holder.libs.1445630059" name="holder for library settings" superClass="org.eclipse.cdt.build.core.settings.holder.libs"/>
 							<tool id="org.eclipse.cdt.build.core.settings.holder.1764610277" name="Assembly" superClass="org.eclipse.cdt.build.core.settings.holder">
 								<inputType id="org.eclipse.cdt.build.core.settings.holder.inType.1671812416" languageId="org.eclipse.cdt.core.assembly" languageName="Assembly" sourceContentType="org.eclipse.cdt.core.asmSource" superClass="org.eclipse.cdt.build.core.settings.holder.inType"/>
@@ -47,6 +47,9 @@
 	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
 		<project id="rtabmap-pkg.null.595292537" name="rtabmap-pkg"/>
 	</storageModule>
+	<storageModule moduleId="refreshScope" versionNumber="1">
+		<resource resourceType="PROJECT" workspacePath="/rtabmap-pkg"/>
+	</storageModule>
 	<storageModule moduleId="scannerConfiguration">
 		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
 		<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
@@ -99,36 +102,6 @@
 				<parser enabled="true"/>
 			</scannerInfoProvider>
 		</profile>
-		<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
-			<buildOutputProvider>
-				<openAction enabled="true" filePath=""/>
-				<parser enabled="true"/>
-			</buildOutputProvider>
-			<scannerInfoProvider id="specsFile">
-				<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/${specs_file}&quot;'" command="sh" useDefault="true"/>
-				<parser enabled="true"/>
-			</scannerInfoProvider>
-		</profile>
-		<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
-			<buildOutputProvider>
-				<openAction enabled="true" filePath=""/>
-				<parser enabled="true"/>
-			</buildOutputProvider>
-			<scannerInfoProvider id="specsFile">
-				<runAction arguments="-c 'g++ -E -P -v -dD &quot;${plugin_state_location}/specs.cpp&quot;'" command="sh" useDefault="true"/>
-				<parser enabled="true"/>
-			</scannerInfoProvider>
-		</profile>
-		<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
-			<buildOutputProvider>
-				<openAction enabled="true" filePath=""/>
-				<parser enabled="true"/>
-			</buildOutputProvider>
-			<scannerInfoProvider id="specsFile">
-				<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/specs.c&quot;'" command="sh" useDefault="true"/>
-				<parser enabled="true"/>
-			</scannerInfoProvider>
-		</profile>
 		<scannerConfigBuildInfo instanceId="0.250647335">
 			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile"/>
 			<profile id="org.eclipse.cdt.make.core.GCCStandardMakePerProjectProfile">
@@ -181,39 +154,6 @@
 					<parser enabled="true"/>
 				</scannerInfoProvider>
 			</profile>
-			<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfile">
-				<buildOutputProvider>
-					<openAction enabled="true" filePath=""/>
-					<parser enabled="true"/>
-				</buildOutputProvider>
-				<scannerInfoProvider id="specsFile">
-					<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/${specs_file}&quot;'" command="sh" useDefault="true"/>
-					<parser enabled="true"/>
-				</scannerInfoProvider>
-			</profile>
-			<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileCPP">
-				<buildOutputProvider>
-					<openAction enabled="true" filePath=""/>
-					<parser enabled="true"/>
-				</buildOutputProvider>
-				<scannerInfoProvider id="specsFile">
-					<runAction arguments="-c 'g++ -E -P -v -dD &quot;${plugin_state_location}/specs.cpp&quot;'" command="sh" useDefault="true"/>
-					<parser enabled="true"/>
-				</scannerInfoProvider>
-			</profile>
-			<profile id="org.eclipse.cdt.managedbuilder.core.GCCWinManagedMakePerProjectProfileC">
-				<buildOutputProvider>
-					<openAction enabled="true" filePath=""/>
-					<parser enabled="true"/>
-				</buildOutputProvider>
-				<scannerInfoProvider id="specsFile">
-					<runAction arguments="-c 'gcc -E -P -v -dD &quot;${plugin_state_location}/specs.c&quot;'" command="sh" useDefault="true"/>
-					<parser enabled="true"/>
-				</scannerInfoProvider>
-			</profile>
 		</scannerConfigBuildInfo>
 	</storageModule>
-	<storageModule moduleId="refreshScope" versionNumber="1">
-		<resource resourceType="PROJECT" workspacePath="/rtabmap-pkg"/>
-	</storageModule>
 </cproject>
diff --git a/.project b/.project
index 787a8f28..bbf49cc5 100644
--- a/.project
+++ b/.project
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <projectDescription>
-	<name>rtabmap-pkg</name>
+	<name>rtabmap_ros</name>
 	<comment></comment>
 	<projects>
 	</projects>
@@ -31,7 +31,7 @@
 				</dictionary>
 				<dictionary>
 					<key>org.eclipse.cdt.make.core.buildLocation</key>
-					<value>${ProjDirPath}/../../build/rtabmap</value>
+					<value>${ProjDirPath}/../../build/rtabmap_ros</value>
 				</dictionary>
 				<dictionary>
 					<key>org.eclipse.cdt.make.core.cleanBuildTarget</key>