diff --git a/CMakeLists.txt b/CMakeLists.txt
index 5f16f6b8..48a081f0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -25,7 +25,7 @@ find_package(catkin REQUIRED COMPONENTS
 # Optional components
 find_package(costmap_2d)
 find_package(octomap_msgs)
-find_package(apriltags2_ros)
+find_package(apriltag_ros)
 find_package(rviz)
 find_package(find_object_2d)
 
@@ -247,18 +247,18 @@ SET(Libraries
 ADD_DEFINITIONS("-DWITH_OCTOMAP_MSGS")
 ENDIF(octomap_msgs_FOUND)
 
-# If apriltags2_ros is found, add definition
-IF(apriltags2_ros_FOUND)
-MESSAGE(STATUS "WITH apriltags2_ros")
+# If apriltag_ros is found, add definition
+IF(apriltag_ros_FOUND)
+MESSAGE(STATUS "WITH apriltag_ros")
 include_directories(
-  ${apriltags2_ros_INCLUDE_DIRS}
+  ${apriltag_ros_INCLUDE_DIRS}
 )
 SET(Libraries
-  ${apriltags2_ros_LIBRARIES}
+  ${apriltag_ros_LIBRARIES}
   ${Libraries}
 )
-ADD_DEFINITIONS("-DWITH_APRILTAGS2_ROS")
-ENDIF(apriltags2_ros_FOUND)
+ADD_DEFINITIONS("-DWITH_APRILTAG_ROS")
+ENDIF(apriltag_ros_FOUND)
 
 # If rviz is found, add plugins
 IF(rviz_FOUND)
diff --git a/include/rtabmap_ros/CoreWrapper.h b/include/rtabmap_ros/CoreWrapper.h
index 46a8630f..b8a18a1a 100644
--- a/include/rtabmap_ros/CoreWrapper.h
+++ b/include/rtabmap_ros/CoreWrapper.h
@@ -64,8 +64,8 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 #include <octomap_msgs/GetOctomap.h>
 #endif
 
-#ifdef WITH_APRILTAGS2_ROS
-#include <apriltags2_ros/AprilTagDetectionArray.h>
+#ifdef WITH_APRILTAG_ROS
+#include <apriltag_ros/AprilTagDetectionArray.h>
 #endif
 
 #include <actionlib/client/simple_action_client.h>
@@ -139,8 +139,8 @@ private:
 	void userDataAsyncCallback(const rtabmap_ros::UserDataConstPtr & dataMsg);
 	void globalPoseAsyncCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr & globalPoseMsg);
 	void gpsFixAsyncCallback(const sensor_msgs::NavSatFixConstPtr & gpsFixMsg);
-#ifdef WITH_APRILTAGS2_ROS
-	void tagDetectionsAsyncCallback(const apriltags2_ros::AprilTagDetectionArray & tagDetections);
+#ifdef WITH_APRILTAG_ROS
+	void tagDetectionsAsyncCallback(const apriltag_ros::AprilTagDetectionArray & tagDetections);
 #endif
 	void imuAsyncCallback(const sensor_msgs::ImuConstPtr & tagDetections);
 
diff --git a/launch/tests/test_apriltags2.launch b/launch/tests/test_apriltag_ros.launch
similarity index 74%
rename from launch/tests/test_apriltags2.launch
rename to launch/tests/test_apriltag_ros.launch
index 9b3a20c9..81acbf16 100644
--- a/launch/tests/test_apriltags2.launch
+++ b/launch/tests/test_apriltag_ros.launch
@@ -1,11 +1,11 @@
 <launch>
   <!-- Print on the file tag_bundle1.png (with GIMP: set size in Image Settings to 160x240mm) -->
   <!-- Definition of the tag bundle is tags.yaml, make sure the camera is calibrated or adjust the size of the tag if needed -->
-  <!-- The TF published by apriltags_ros should match the point cloud created by the camera -->
+  <!-- The TF published by apriltag_ros should match the point cloud created by the camera -->
   <!-- Change Optimizer/Strategy below between 1 (g2o) and 2 (GTSAM), and tag_angular_variance between 0.005 (optimize rotation) and 9999 (optimize only tag's XYZ) -->
 
   <!-- $ roslaunch realsense2_camera rs_camera.launch align_depth:=true -->
-  <!-- $ roslaunch rtabmap_ros test_apriltags2.launch rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info -->
+  <!-- $ roslaunch rtabmap_ros test_apriltag_ros.launch rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info -->
   <!-- $ roslaunch rtabmap_ros rtabmap.launch depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info rviz:=true rtabmapviz:=false args:="-d -Optimizer/Strategy 1" tag_angular_variance:=9999 -->
 
   <arg name="camera_frame_id"         default="camera_color_optical_frame"/>
@@ -13,10 +13,10 @@
   <arg name="camera_info_topic"       default="/camera/rgb/camera_info" />
 
   <!-- Set parameters -->
-  <rosparam command="load" file="$(find rtabmap_ros)/launch/tests/tag_settings.yaml" ns="apriltags2_ros_continuous_node" />
-  <rosparam command="load" file="$(find rtabmap_ros)/launch/tests/tags.yaml" ns="apriltags2_ros_continuous_node" />
+  <rosparam command="load" file="$(find rtabmap_ros)/launch/tests/tag_settings.yaml" ns="apriltag_ros_continuous_node" />
+  <rosparam command="load" file="$(find rtabmap_ros)/launch/tests/tags.yaml" ns="apriltag_ros_continuous_node" />
   
-  <node pkg="apriltags2_ros" type="apriltags2_ros_continuous_node" name="apriltags2_ros_continuous_node" clear_params="true" output="screen">
+  <node pkg="apriltag_ros" type="apriltag_ros_continuous_node" name="apriltag_ros_continuous_node" clear_params="true" output="screen">
     <remap from="image_rect" to="$(arg rgb_topic)" />
     <remap from="camera_info" to="$(arg camera_info_topic)" />
 
diff --git a/src/CoreWrapper.cpp b/src/CoreWrapper.cpp
index 7f694cc6..699b27e2 100644
--- a/src/CoreWrapper.cpp
+++ b/src/CoreWrapper.cpp
@@ -650,7 +650,7 @@ void CoreWrapper::onInit()
 	userDataAsyncSub_ = nh.subscribe("user_data_async", 1, &CoreWrapper::userDataAsyncCallback, this);
 	globalPoseAsyncSub_ = nh.subscribe("global_pose", 1, &CoreWrapper::globalPoseAsyncCallback, this);
 	gpsFixAsyncSub_ = nh.subscribe("gps/fix", 1, &CoreWrapper::gpsFixAsyncCallback, this);
-#ifdef WITH_APRILTAGS2_ROS
+#ifdef WITH_APRILTAG_ROS
 	tagDetectionsSub_ = nh.subscribe("tag_detections", 1, &CoreWrapper::tagDetectionsAsyncCallback, this);
 #endif
 	imuSub_ = nh.subscribe("imu", 100, &CoreWrapper::imuAsyncCallback, this);
@@ -1999,8 +1999,8 @@ void CoreWrapper::gpsFixAsyncCallback(const sensor_msgs::NavSatFixConstPtr & gps
 	}
 }
 
-#ifdef WITH_APRILTAGS2_ROS
-void CoreWrapper::tagDetectionsAsyncCallback(const apriltags2_ros::AprilTagDetectionArray & tagDetections)
+#ifdef WITH_APRILTAG_ROS
+void CoreWrapper::tagDetectionsAsyncCallback(const apriltag_ros::AprilTagDetectionArray & tagDetections)
 {
 	if(!paused_)
 	{