diff --git a/CMakeLists.txt b/CMakeLists.txt
index d2d2ba1..de42702 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
-project(obstacle_detector)
+project(processing_lidar_objects)
 
 set(CMAKE_CXX_FLAGS "-std=c++11 -fpermissive ${CMAKE_CXX_FLAGS} -Wfatal-errors\ ")
 
diff --git a/README.md b/README.md
index 1447bcf..889ecdd 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
-# The obstacle_detector package 
+# The processing_lidar_objects package 
 
-The `obstacle_detector` package provides utilities to detect and track obstacles from data provided by 2D laser scanners. Detected obstacles come in a form of line segments or circles. The package was designed for a robot equipped with two laser scanners therefore it contains several additional utilities. The working principles of the method are described in an article provided in the `resources` folder.
+The `processing_lidar_objects` package provides utilities to detect and track obstacles from data provided by 2D laser scanners. Detected obstacles come in a form of line segments or circles. The package was designed for a robot equipped with two laser scanners therefore it contains several additional utilities. The working principles of the method are described in an article provided in the `resources` folder.
 
 The package requires [Armadillo C++](http://arma.sourceforge.net) library for compilation and runtime.
 
@@ -126,7 +126,7 @@ The package comes with Rviz panel for this node.
 
 ### 1.3. The obstacle_tracker node
 
-This node tracks and filters the circular obstacles with the use of Kalman filter. It subscribes to messages of custom type `obstacle_detector/Obstacles` from topic `raw_obstacles` and publishes messages of the same type under topic `tracked_obstacles`. The tracking algorithm is applied only to the circular obstacles, hence the segments list in the published message is simply a copy of the original segments. The tracked obstacles are supplemented with additional information on their velocity.
+This node tracks and filters the circular obstacles with the use of Kalman filter. It subscribes to messages of custom type `processing_lidar_objects/Obstacles` from topic `raw_obstacles` and publishes messages of the same type under topic `tracked_obstacles`. The tracking algorithm is applied only to the circular obstacles, hence the segments list in the published message is simply a copy of the original segments. The tracked obstacles are supplemented with additional information on their velocity.
 
 -----------------------
 <p align="center">
@@ -206,12 +206,12 @@ The package provides three custom message types. All of their numerical values a
     - `geometry_msgs/Point last_point` - end point of the segment.
 * `Obstacles`
     - `Header header`
-    - `obstacle_detector/SegmentObstacle[] segments`
-    - `obstacle_detector/CircleObstacle[] circles`
+    - `processing_lidar_objects/SegmentObstacle[] segments`
+    - `processing_lidar_objects/CircleObstacle[] circles`
 
 ## 3. The launch files
 
-Provided launch files are good examples of how to use `obstacle_detector` package. They give a full list of parameters used by each of provided nodes.
+Provided launch files are good examples of how to use `processing_lidar_objects` package. They give a full list of parameters used by each of provided nodes.
 * `demo.launch` - Plays a rosbag with recorded scans and starts all of the nodes with Rviz configured with appropriate panels.
 * `nodes_example.launch` - Runs all of the nodes with their parameters set to default values.
 * `nodelets_example.launch` - Runs all of the nodelets with their parameters set to default values.
diff --git a/include/obstacle_detector/displays/circle_visual.h b/include/processing_lidar_objects/displays/circle_visual.h
similarity index 95%
rename from include/obstacle_detector/displays/circle_visual.h
rename to include/processing_lidar_objects/displays/circle_visual.h
index 35de349..5595b5b 100644
--- a/include/obstacle_detector/displays/circle_visual.h
+++ b/include/processing_lidar_objects/displays/circle_visual.h
@@ -36,7 +36,7 @@
 #pragma once
 
 #ifndef Q_MOC_RUN
-#include <obstacle_detector/Obstacles.h>
+#include <processing_lidar_objects/Obstacles.h>
 
 #include <OGRE/OgreVector3.h>
 #include <OGRE/OgreSceneNode.h>
@@ -55,7 +55,7 @@ class CircleVisual
 
   virtual ~CircleVisual();
 
-  void setData(const obstacle_detector::CircleObstacle& circle);
+  void setData(const processing_lidar_objects::CircleObstacle& circle);
   void setFramePosition(const Ogre::Vector3& position);
   void setFrameOrientation(const Ogre::Quaternion& orientation);
   void setMainColor(float r, float g, float b, float a);
diff --git a/include/obstacle_detector/displays/obstacles_display.h b/include/processing_lidar_objects/displays/obstacles_display.h
similarity index 88%
rename from include/obstacle_detector/displays/obstacles_display.h
rename to include/processing_lidar_objects/displays/obstacles_display.h
index 7538234..807e955 100644
--- a/include/obstacle_detector/displays/obstacles_display.h
+++ b/include/processing_lidar_objects/displays/obstacles_display.h
@@ -39,7 +39,7 @@
 #include <OGRE/OgreSceneNode.h>
 #include <OGRE/OgreSceneManager.h>
 
-#include <obstacle_detector/Obstacles.h>
+#include <processing_lidar_objects/Obstacles.h>
 #include <tf/transform_listener.h>
 
 #include <rviz/properties/color_property.h>
@@ -48,14 +48,14 @@
 #include <rviz/visualization_manager.h>
 #include <rviz/frame_manager.h>
 
-#include "obstacle_detector/displays/circle_visual.h"
-#include "obstacle_detector/displays/segment_visual.h"
+#include "processing_lidar_objects/displays/circle_visual.h"
+#include "processing_lidar_objects/displays/segment_visual.h"
 #endif
 
 namespace obstacles_display
 {
 
-class ObstaclesDisplay: public rviz::MessageFilterDisplay<obstacle_detector::Obstacles>
+class ObstaclesDisplay: public rviz::MessageFilterDisplay<processing_lidar_objects::Obstacles>
 {
 Q_OBJECT
 public:
@@ -73,7 +73,7 @@ private Q_SLOTS:
   void updateThickness();
 
 private:
-  void processMessage(const obstacle_detector::Obstacles::ConstPtr& obstacles_msg);
+  void processMessage(const processing_lidar_objects::Obstacles::ConstPtr& obstacles_msg);
 
   std::vector< boost::shared_ptr<CircleVisual> > circle_visuals_;
   std::vector< boost::shared_ptr<SegmentVisual> > segment_visuals_;
diff --git a/include/obstacle_detector/displays/segment_visual.h b/include/processing_lidar_objects/displays/segment_visual.h
similarity index 95%
rename from include/obstacle_detector/displays/segment_visual.h
rename to include/processing_lidar_objects/displays/segment_visual.h
index 8605658..44cd1c0 100644
--- a/include/obstacle_detector/displays/segment_visual.h
+++ b/include/processing_lidar_objects/displays/segment_visual.h
@@ -36,7 +36,7 @@
 #pragma once
 
 #ifndef Q_MOC_RUN
-#include <obstacle_detector/Obstacles.h>
+#include <processing_lidar_objects/Obstacles.h>
 
 #include <OGRE/OgreVector3.h>
 #include <OGRE/OgreSceneNode.h>
@@ -56,7 +56,7 @@ class SegmentVisual
 
   virtual ~SegmentVisual();
 
-  void setData(const obstacle_detector::SegmentObstacle& segment);
+  void setData(const processing_lidar_objects::SegmentObstacle& segment);
   void setFramePosition(const Ogre::Vector3& position);
   void setFrameOrientation(const Ogre::Quaternion& orientation);
   void setColor(float r, float g, float b, float a);
diff --git a/include/obstacle_detector/obstacle_extractor.h b/include/processing_lidar_objects/obstacle_extractor.h
similarity index 91%
rename from include/obstacle_detector/obstacle_extractor.h
rename to include/processing_lidar_objects/obstacle_extractor.h
index 0e10ff7..85233cd 100644
--- a/include/obstacle_detector/obstacle_extractor.h
+++ b/include/processing_lidar_objects/obstacle_extractor.h
@@ -40,14 +40,14 @@
 #include <std_srvs/Empty.h>
 #include <sensor_msgs/LaserScan.h>
 #include <sensor_msgs/PointCloud.h>
-#include <obstacle_detector/Obstacles.h>
+#include <processing_lidar_objects/Obstacles.h>
 
-#include "obstacle_detector/utilities/point.h"
-#include "obstacle_detector/utilities/segment.h"
-#include "obstacle_detector/utilities/circle.h"
-#include "obstacle_detector/utilities/point_set.h"
+#include "processing_lidar_objects/utilities/point.h"
+#include "processing_lidar_objects/utilities/segment.h"
+#include "processing_lidar_objects/utilities/circle.h"
+#include "processing_lidar_objects/utilities/point_set.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstacleExtractor
@@ -121,4 +121,4 @@ class ObstacleExtractor
   std::string p_frame_id_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
diff --git a/include/obstacle_detector/obstacle_publisher.h b/include/processing_lidar_objects/obstacle_publisher.h
similarity index 94%
rename from include/obstacle_detector/obstacle_publisher.h
rename to include/processing_lidar_objects/obstacle_publisher.h
index eb10f3b..e35cb8d 100644
--- a/include/obstacle_detector/obstacle_publisher.h
+++ b/include/processing_lidar_objects/obstacle_publisher.h
@@ -37,9 +37,9 @@
 
 #include <ros/ros.h>
 #include <std_srvs/Empty.h>
-#include <obstacle_detector/Obstacles.h>
+#include <processing_lidar_objects/Obstacles.h>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstaclePublisher
@@ -67,7 +67,7 @@ class ObstaclePublisher
   ros::ServiceServer params_srv_;
   ros::Timer timer_;
 
-  obstacle_detector::Obstacles obstacles_;
+  processing_lidar_objects::Obstacles obstacles_;
   double t_;
 
   // Parameters
@@ -90,4 +90,4 @@ class ObstaclePublisher
   std::string p_frame_id_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
diff --git a/include/obstacle_detector/obstacle_tracker.h b/include/processing_lidar_objects/obstacle_tracker.h
similarity index 91%
rename from include/obstacle_detector/obstacle_tracker.h
rename to include/processing_lidar_objects/obstacle_tracker.h
index e243eb2..c3bd74a 100644
--- a/include/obstacle_detector/obstacle_tracker.h
+++ b/include/processing_lidar_objects/obstacle_tracker.h
@@ -40,12 +40,12 @@
 #include <ros/ros.h>
 #include <armadillo>
 #include <std_srvs/Empty.h>
-#include <obstacle_detector/Obstacles.h>
+#include <processing_lidar_objects/Obstacles.h>
 
-#include "obstacle_detector/utilities/tracked_obstacle.h"
-#include "obstacle_detector/utilities/math_utilities.h"
+#include "processing_lidar_objects/utilities/tracked_obstacle.h"
+#include "processing_lidar_objects/utilities/math_utilities.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstacleTracker {
@@ -56,7 +56,7 @@ class ObstacleTracker {
 private:
   bool updateParams(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
   void timerCallback(const ros::TimerEvent&);
-  void obstaclesCallback(const obstacle_detector::Obstacles::ConstPtr new_obstacles);
+  void obstaclesCallback(const processing_lidar_objects::Obstacles::ConstPtr new_obstacles);
 
   void initialize() { std_srvs::Empty empt; updateParams(empt.request, empt.response); }
 
@@ -87,7 +87,7 @@ class ObstacleTracker {
   ros::Timer timer_;
 
   double radius_margin_;
-  obstacle_detector::Obstacles obstacles_;
+  processing_lidar_objects::Obstacles obstacles_;
 
   std::vector<TrackedObstacle> tracked_obstacles_;
   std::vector<CircleObstacle> untracked_obstacles_;
@@ -109,4 +109,4 @@ class ObstacleTracker {
   std::string p_frame_id_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
diff --git a/include/obstacle_detector/panels/obstacle_extractor_panel.h b/include/processing_lidar_objects/panels/obstacle_extractor_panel.h
similarity index 97%
rename from include/obstacle_detector/panels/obstacle_extractor_panel.h
rename to include/processing_lidar_objects/panels/obstacle_extractor_panel.h
index dd6fccd..250b7ba 100644
--- a/include/obstacle_detector/panels/obstacle_extractor_panel.h
+++ b/include/processing_lidar_objects/panels/obstacle_extractor_panel.h
@@ -49,7 +49,7 @@
 #include <QHBoxLayout>
 #include <QGridLayout>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstacleExtractorPanel : public rviz::Panel
@@ -119,4 +119,4 @@ private Q_SLOTS:
   std::string p_frame_id_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
diff --git a/include/obstacle_detector/panels/obstacle_publisher_panel.h b/include/processing_lidar_objects/panels/obstacle_publisher_panel.h
similarity index 98%
rename from include/obstacle_detector/panels/obstacle_publisher_panel.h
rename to include/processing_lidar_objects/panels/obstacle_publisher_panel.h
index ba331c2..6cc131b 100644
--- a/include/obstacle_detector/panels/obstacle_publisher_panel.h
+++ b/include/processing_lidar_objects/panels/obstacle_publisher_panel.h
@@ -51,7 +51,7 @@
 #include <QListWidget>
 #include <QGroupBox>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstaclePublisherPanel : public rviz::Panel
diff --git a/include/obstacle_detector/panels/obstacle_tracker_panel.h b/include/processing_lidar_objects/panels/obstacle_tracker_panel.h
similarity index 98%
rename from include/obstacle_detector/panels/obstacle_tracker_panel.h
rename to include/processing_lidar_objects/panels/obstacle_tracker_panel.h
index 2ffd7de..97fc018 100644
--- a/include/obstacle_detector/panels/obstacle_tracker_panel.h
+++ b/include/processing_lidar_objects/panels/obstacle_tracker_panel.h
@@ -49,7 +49,7 @@
 #include <QHBoxLayout>
 #include <QGridLayout>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstacleTrackerPanel : public rviz::Panel
diff --git a/include/obstacle_detector/panels/scans_merger_panel.h b/include/processing_lidar_objects/panels/scans_merger_panel.h
similarity index 97%
rename from include/obstacle_detector/panels/scans_merger_panel.h
rename to include/processing_lidar_objects/panels/scans_merger_panel.h
index 27ce5e5..ca20e5a 100644
--- a/include/obstacle_detector/panels/scans_merger_panel.h
+++ b/include/processing_lidar_objects/panels/scans_merger_panel.h
@@ -48,7 +48,7 @@
 #include <QPushButton>
 #include <QLabel>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ScansMergerPanel : public rviz::Panel
@@ -111,4 +111,4 @@ private Q_SLOTS:
   std::string p_target_frame_id_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
diff --git a/include/obstacle_detector/scans_merger.h b/include/processing_lidar_objects/scans_merger.h
similarity index 97%
rename from include/obstacle_detector/scans_merger.h
rename to include/processing_lidar_objects/scans_merger.h
index 0bbcd58..1de59c9 100644
--- a/include/obstacle_detector/scans_merger.h
+++ b/include/processing_lidar_objects/scans_merger.h
@@ -43,7 +43,7 @@
 #include <tf/transform_listener.h>
 #include <laser_geometry/laser_geometry.h>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ScansMerger
@@ -100,4 +100,4 @@ class ScansMerger
   std::string p_target_frame_id_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
diff --git a/include/obstacle_detector/utilities/circle.h b/include/processing_lidar_objects/utilities/circle.h
similarity index 93%
rename from include/obstacle_detector/utilities/circle.h
rename to include/processing_lidar_objects/utilities/circle.h
index 614284c..417a635 100644
--- a/include/obstacle_detector/utilities/circle.h
+++ b/include/processing_lidar_objects/utilities/circle.h
@@ -35,10 +35,10 @@
 
 #pragma once
 
-#include "obstacle_detector/utilities/point.h"
-#include "obstacle_detector/utilities/segment.h"
+#include "processing_lidar_objects/utilities/point.h"
+#include "processing_lidar_objects/utilities/segment.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class Circle
@@ -66,4 +66,4 @@ class Circle
   std::vector<PointSet> point_sets;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
diff --git a/include/obstacle_detector/utilities/figure_fitting.h b/include/processing_lidar_objects/utilities/figure_fitting.h
similarity index 96%
rename from include/obstacle_detector/utilities/figure_fitting.h
rename to include/processing_lidar_objects/utilities/figure_fitting.h
index 0161742..8eeb851 100644
--- a/include/obstacle_detector/utilities/figure_fitting.h
+++ b/include/processing_lidar_objects/utilities/figure_fitting.h
@@ -37,11 +37,11 @@
 
 #include <armadillo>
 
-#include "obstacle_detector/utilities/point.h"
-#include "obstacle_detector/utilities/segment.h"
-#include "obstacle_detector/utilities/circle.h"
+#include "processing_lidar_objects/utilities/point.h"
+#include "processing_lidar_objects/utilities/segment.h"
+#include "processing_lidar_objects/utilities/circle.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 /*
@@ -200,4 +200,4 @@ Circle fitCircle(const std::list<Point>& point_set)
   return Circle(center, radius);
 }
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
diff --git a/include/obstacle_detector/utilities/kalman.h b/include/processing_lidar_objects/utilities/kalman.h
similarity index 100%
rename from include/obstacle_detector/utilities/kalman.h
rename to include/processing_lidar_objects/utilities/kalman.h
diff --git a/include/obstacle_detector/utilities/math_utilities.h b/include/processing_lidar_objects/utilities/math_utilities.h
similarity index 96%
rename from include/obstacle_detector/utilities/math_utilities.h
rename to include/processing_lidar_objects/utilities/math_utilities.h
index ce61970..0c29bfc 100644
--- a/include/obstacle_detector/utilities/math_utilities.h
+++ b/include/processing_lidar_objects/utilities/math_utilities.h
@@ -39,9 +39,9 @@
 #include <geometry_msgs/Point.h>
 #include <geometry_msgs/Point32.h>
 
-#include "obstacle_detector/utilities/point.h"
+#include "processing_lidar_objects/utilities/point.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 inline double signum(double x) { return (x < 0.0) ? -1.0 : 1.0; }
@@ -98,4 +98,4 @@ inline bool checkPointInLimits(const geometry_msgs::Point32& p, double x_min, do
     return true;
 }
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
diff --git a/include/obstacle_detector/utilities/point.h b/include/processing_lidar_objects/utilities/point.h
similarity index 98%
rename from include/obstacle_detector/utilities/point.h
rename to include/processing_lidar_objects/utilities/point.h
index f325242..bd9c5e3 100644
--- a/include/obstacle_detector/utilities/point.h
+++ b/include/processing_lidar_objects/utilities/point.h
@@ -38,7 +38,7 @@
 #include <cmath>
 #include <iostream>
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class Point
@@ -87,4 +87,4 @@ class Point
   double y;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
diff --git a/include/obstacle_detector/utilities/point_set.h b/include/processing_lidar_objects/utilities/point_set.h
similarity index 94%
rename from include/obstacle_detector/utilities/point_set.h
rename to include/processing_lidar_objects/utilities/point_set.h
index b0ad481..7866c44 100644
--- a/include/obstacle_detector/utilities/point_set.h
+++ b/include/processing_lidar_objects/utilities/point_set.h
@@ -37,9 +37,9 @@
 
 #include <list>
 
-#include "obstacle_detector/utilities/point.h"
+#include "processing_lidar_objects/utilities/point.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 typedef std::list<Point>::iterator PointIterator;
@@ -54,5 +54,5 @@ class PointSet
   bool is_visible;  // The point set is not occluded by any other point set
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
 
diff --git a/include/obstacle_detector/utilities/segment.h b/include/processing_lidar_objects/utilities/segment.h
similarity index 94%
rename from include/obstacle_detector/utilities/segment.h
rename to include/processing_lidar_objects/utilities/segment.h
index 26ba730..6cb7b24 100644
--- a/include/obstacle_detector/utilities/segment.h
+++ b/include/processing_lidar_objects/utilities/segment.h
@@ -37,10 +37,10 @@
 
 #include <vector>
 
-#include "obstacle_detector/utilities/point.h"
-#include "obstacle_detector/utilities/point_set.h"
+#include "processing_lidar_objects/utilities/point.h"
+#include "processing_lidar_objects/utilities/point_set.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class Segment
@@ -118,4 +118,4 @@ class Segment
   std::vector<PointSet> point_sets;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
diff --git a/include/obstacle_detector/utilities/tracked_obstacle.h b/include/processing_lidar_objects/utilities/tracked_obstacle.h
similarity index 97%
rename from include/obstacle_detector/utilities/tracked_obstacle.h
rename to include/processing_lidar_objects/utilities/tracked_obstacle.h
index 67dfc2a..a08c2df 100644
--- a/include/obstacle_detector/utilities/tracked_obstacle.h
+++ b/include/processing_lidar_objects/utilities/tracked_obstacle.h
@@ -35,10 +35,10 @@
 
 #pragma once
 
-#include <obstacle_detector/Obstacles.h>
-#include "obstacle_detector/utilities/kalman.h"
+#include <processing_lidar_objects/Obstacles.h>
+#include "processing_lidar_objects/utilities/kalman.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class TrackedObstacle {
diff --git a/launch/demo.launch b/launch/demo.launch
index 5cebdbe..4ac66f5 100644
--- a/launch/demo.launch
+++ b/launch/demo.launch
@@ -2,7 +2,7 @@
 <launch>
 
   <param name="use_sim_time" value="true"/>  
-  <node name="scans_demo" pkg="rosbag" type="play" output="screen" args="--clock --loop $(find obstacle_detector)/resources/scans_demo.bag"/>
+  <node name="scans_demo" pkg="rosbag" type="play" output="screen" args="--clock --loop $(find processing_lidar_objects)/resources/scans_demo.bag"/>
 
   <node name="map_to_scanner_base" pkg="tf2_ros" type="static_transform_publisher" args="0 0 0 0 0 0 map robot"/>
   <node name="scanner_base_to_front_scanner" pkg="tf2_ros" type="static_transform_publisher" args="0.23565 -0.0005 0.06795 0 0 0 robot front_scanner"/>
@@ -12,7 +12,7 @@
     <param name="num_worker_threads" value="20"/>
   </node>
 
-  <node name="scans_merger" pkg="nodelet" type="nodelet" args="load obstacle_detector/ScansMerger nodelet_manager">
+  <node name="scans_merger" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ScansMerger nodelet_manager">
     <param name="active"            value="true"/>
     <param name="publish_scan"      value="false"/>
     <param name="publish_pcl"       value="true"/>
@@ -31,7 +31,7 @@
     <param name="target_frame_id"   value="robot"/>
   </node>
 
-  <node name="obstacle_extractor" pkg="nodelet" type="nodelet" args="load obstacle_detector/ObstacleExtractor nodelet_manager">
+  <node name="obstacle_extractor" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ObstacleExtractor nodelet_manager">
     <param name="active"               value="true"/>
     <param name="use_scan"             value="false"/>
     <param name="use_pcl"              value="true"/>
@@ -54,7 +54,7 @@
     <param name="frame_id"             value="map"/>
   </node>
 
-  <node name="obstacle_tracker" pkg="nodelet" type="nodelet" args="load obstacle_detector/ObstacleTracker nodelet_manager">
+  <node name="obstacle_tracker" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ObstacleTracker nodelet_manager">
     <param name="active"                  value="true"/>
 
     <param name="loop_rate"               value="100.0"/>
@@ -70,7 +70,7 @@
     <remap from="tracked_obstacles" to="obstacles"/>
   </node>
 
-  <node name="obstacle_publisher" pkg="nodelet" type="nodelet" args="load obstacle_detector/ObstaclePublisher nodelet_manager">
+  <node name="obstacle_publisher" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ObstaclePublisher nodelet_manager">
     <param name="active"           value="false"/>
     <param name="reset"            value="false"/>
 
@@ -89,7 +89,7 @@
     <param name="frame_id"         value="map"/>
   </node>
 
-  <node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find obstacle_detector)/resources/obstacle_detector.rviz"/>
+  <node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find processing_lidar_objects)/resources/processing_lidar_objects.rviz"/>
 
 </launch>
 <!-- -->
diff --git a/launch/lidar_objects.launch b/launch/lidar_objects.launch
index b34c889..680c4d0 100644
--- a/launch/lidar_objects.launch
+++ b/launch/lidar_objects.launch
@@ -5,7 +5,7 @@
         <param name="num_worker_threads" value="20"/>
     </node>
 
-    <node name="obstacle_extractor" pkg="nodelet" type="nodelet" args="load obstacle_detector/ObstacleExtractor nodelet_manager">
+    <node name="obstacle_extractor" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ObstacleExtractor nodelet_manager">
         <param name="active"               value="true"/>
         <param name="use_scan"             value="true"/>
         <param name="use_pcl"              value="false"/>
@@ -29,7 +29,7 @@
         <param name="frame_id"             value="map"/>
     </node>
 
-    <node name="obstacle_tracker" pkg="nodelet" type="nodelet" args="load obstacle_detector/ObstacleTracker nodelet_manager">
+    <node name="obstacle_tracker" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ObstacleTracker nodelet_manager">
         <param name="active"                  value="true"/>
 
         <param name="loop_rate"               value="20.0"/> <!-- Hz refresh rate -->
@@ -45,7 +45,7 @@
         <remap from="tracked_obstacles" to="obstacles"/>
     </node>
 
-    <!-- <node name="obstacle_publisher" pkg="nodelet" type="nodelet" args="load obstacle_detector/ObstaclePublisher nodelet_manager">
+    <!-- <node name="obstacle_publisher" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ObstaclePublisher nodelet_manager">
         <param name="active"           value="false"/>
         <param name="reset"            value="false"/>
 
@@ -64,5 +64,5 @@
         <param name="frame_id"         value="map"/>
     </node> -->
 
-    <!--<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find obstacle_detector)/resources/obstacle_detector.rviz"/>-->
+    <!--<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find processing_lidar_objects)/resources/processing_lidar_objects.rviz"/>-->
 </launch>
\ No newline at end of file
diff --git a/launch/nodelets.launch b/launch/nodelets.launch
index e06c15d..9a36e00 100644
--- a/launch/nodelets.launch
+++ b/launch/nodelets.launch
@@ -3,7 +3,7 @@
 
   <arg name="manager" doc="Name of the nodelet manager"/>
 
-  <node name="scans_merger" pkg="nodelet" type="nodelet" args="load obstacle_detector/ScansMerger $(arg manager)">
+  <node name="scans_merger" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ScansMerger $(arg manager)">
     <param name="active"            value="true"/>
     <param name="publish_scan"      value="false"/>
     <param name="publish_pcl"       value="true"/>
@@ -22,7 +22,7 @@
     <param name="target_frame_id"   value="robot"/>
   </node>
 
-  <node name="obstacle_extractor" pkg="nodelet" type="nodelet" args="load obstacle_detector/ObstacleExtractor $(arg manager)">
+  <node name="obstacle_extractor" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ObstacleExtractor $(arg manager)">
     <param name="active"               value="true"/>
     <param name="use_scan"             value="false"/>
     <param name="use_pcl"              value="true"/>
@@ -45,7 +45,7 @@
     <param name="frame_id"             value="map"/>
   </node>
 
-  <node name="obstacle_tracker" pkg="nodelet" type="nodelet" args="load obstacle_detector/ObstacleTracker $(arg manager)">
+  <node name="obstacle_tracker" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ObstacleTracker $(arg manager)">
     <param name="active"                  value="false"/>
 
     <param name="loop_rate"               value="100.0"/>
@@ -61,7 +61,7 @@
     <remap from="tracked_obstacles" to="obstacles"/>
   </node>
 
-  <node name="obstacle_publisher" pkg="nodelet" type="nodelet" args="load obstacle_detector/ObstaclePublisher $(arg manager)">
+  <node name="obstacle_publisher" pkg="nodelet" type="nodelet" args="load processing_lidar_objects/ObstaclePublisher $(arg manager)">
     <param name="active"           value="true"/>
     <param name="reset"            value="false"/>
 
diff --git a/launch/nodes.launch b/launch/nodes.launch
index 4e87400..02cbaf8 100644
--- a/launch/nodes.launch
+++ b/launch/nodes.launch
@@ -1,7 +1,7 @@
 <!-- Reusable launch file for obstacle detection -->
 <launch>
 
-  <node name="scans_merger" pkg="obstacle_detector" type="scans_merger_node">
+  <node name="scans_merger" pkg="processing_lidar_objects" type="scans_merger_node">
     <param name="active"            value="true"/>
     <param name="publish_scan"      value="false"/>
     <param name="publish_pcl"       value="true"/>
@@ -20,7 +20,7 @@
     <param name="target_frame_id"   value="robot"/>
   </node>
 
-  <node name="obstacle_extractor" pkg="obstacle_detector" type="obstacle_extractor_node">
+  <node name="obstacle_extractor" pkg="processing_lidar_objects" type="obstacle_extractor_node">
     <param name="active"               value="true"/>
     <param name="use_scan"             value="false"/>
     <param name="use_pcl"              value="true"/>
@@ -43,7 +43,7 @@
     <param name="frame_id"             value="map"/>
   </node>
 
-  <node name="obstacle_tracker" pkg="obstacle_detector" type="obstacle_tracker_node">
+  <node name="obstacle_tracker" pkg="processing_lidar_objects" type="obstacle_tracker_node">
     <param name="active"                  value="false"/>
 
     <param name="loop_rate"               value="100.0"/>
@@ -59,7 +59,7 @@
     <remap from="tracked_obstacles" to="obstacles"/>
   </node>
  
-  <node name="obstacle_publisher" pkg="obstacle_detector" type="obstacle_publisher_node">
+  <node name="obstacle_publisher" pkg="processing_lidar_objects" type="obstacle_publisher_node">
     <param name="active"           value="true"/>
     <param name="reset"            value="false"/>
 
diff --git a/msg/Obstacles.msg b/msg/Obstacles.msg
index ae63b42..7cae082 100644
--- a/msg/Obstacles.msg
+++ b/msg/Obstacles.msg
@@ -1,4 +1,4 @@
 Header header
 
-obstacle_detector/SegmentObstacle[] segments
-obstacle_detector/CircleObstacle[] circles
+processing_lidar_objects/SegmentObstacle[] segments
+processing_lidar_objects/CircleObstacle[] circles
diff --git a/nodelet_plugins.xml b/nodelet_plugins.xml
index 63550af..8a34bb6 100644
--- a/nodelet_plugins.xml
+++ b/nodelet_plugins.xml
@@ -1,31 +1,31 @@
-<library path="lib/libobstacle_detector_nodelets">
+<library path="lib/libprocessing_lidar_objects_nodelets">
 
-  <class name="obstacle_detector/ScansMerger" 
-         type="obstacle_detector::ScansMergerNodelet" 
+  <class name="processing_lidar_objects/ScansMerger" 
+         type="processing_lidar_objects::ScansMergerNodelet" 
          base_class_type="nodelet::Nodelet">
     <description>
       Scans Merger Nodelet
     </description>
   </class>
 
-  <class name="obstacle_detector/ObstacleExtractor" 
-         type="obstacle_detector::ObstacleExtractorNodelet" 
+  <class name="processing_lidar_objects/ObstacleExtractor" 
+         type="processing_lidar_objects::ObstacleExtractorNodelet" 
          base_class_type="nodelet::Nodelet">
     <description>
       Obstacle Extractor Nodelet
     </description>
   </class>
 
-  <class name="obstacle_detector/ObstacleTracker" 
-         type="obstacle_detector::ObstacleTrackerNodelet" 
+  <class name="processing_lidar_objects/ObstacleTracker" 
+         type="processing_lidar_objects::ObstacleTrackerNodelet" 
          base_class_type="nodelet::Nodelet">
     <description>
       Obstacle Tracker Nodelet
     </description>
   </class>
 
-  <class name="obstacle_detector/ObstaclePublisher" 
-         type="obstacle_detector::ObstaclePublisherNodelet" 
+  <class name="processing_lidar_objects/ObstaclePublisher" 
+         type="processing_lidar_objects::ObstaclePublisherNodelet" 
          base_class_type="nodelet::Nodelet">
     <description>
       Obstacle Publisher Nodelet
diff --git a/package.xml b/package.xml
index f7cee95..48e4c1a 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>obstacle_detector</name>
+  <name>processing_lidar_objects</name>
   <version>1.0.0</version>
   <description>Detect obstacles in form of line segments and circles from 2D laser scans.</description>
   <maintainer email="mateusz.przybyla@put.poznan.pl">Mateusz Przybyla</maintainer>
diff --git a/rviz_plugins.xml b/rviz_plugins.xml
index bfd46f4..70afd2c 100644
--- a/rviz_plugins.xml
+++ b/rviz_plugins.xml
@@ -1,7 +1,7 @@
-<library path="lib/libobstacle_detector_gui">
+<library path="lib/libprocessing_lidar_objects_gui">
 
   <class name="Scans Merger"
-         type="obstacle_detector::ScansMergerPanel"
+         type="processing_lidar_objects::ScansMergerPanel"
          base_class_type="rviz::Panel">
     <description>
       Scans Merger Panel.
@@ -9,7 +9,7 @@
   </class>
 
   <class name="Obstacle Extractor"
-         type="obstacle_detector::ObstacleExtractorPanel"
+         type="processing_lidar_objects::ObstacleExtractorPanel"
          base_class_type="rviz::Panel">
     <description>
       Obstacle Extractor Panel.
@@ -17,7 +17,7 @@
   </class>
 
   <class name="Obstacle Tracker"
-         type="obstacle_detector::ObstacleTrackerPanel"
+         type="processing_lidar_objects::ObstacleTrackerPanel"
          base_class_type="rviz::Panel">
     <description>
       Obstacle Tracker Panel.
@@ -25,7 +25,7 @@
   </class>
 
   <class name="Obstacle Publisher"
-         type="obstacle_detector::ObstaclePublisherPanel"
+         type="processing_lidar_objects::ObstaclePublisherPanel"
          base_class_type="rviz::Panel">
     <description>
       Obstacle Publisher Panel.
@@ -38,7 +38,7 @@
     <description>
       Obstacles Display
     </description>
-    <message_type>obstacle_detector/Obstacles</message_type>
+    <message_type>processing_lidar_objects/Obstacles</message_type>
   </class>
   
 </library>
diff --git a/src/displays/circle_visual.cpp b/src/displays/circle_visual.cpp
index 6d71a2f..87db362 100644
--- a/src/displays/circle_visual.cpp
+++ b/src/displays/circle_visual.cpp
@@ -33,7 +33,7 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/displays/circle_visual.h"
+#include "processing_lidar_objects/displays/circle_visual.h"
 
 namespace obstacles_display
 {
@@ -52,7 +52,7 @@ CircleVisual::~CircleVisual() {
   scene_manager_->destroySceneNode(frame_node_2_);
 }
 
-void CircleVisual::setData(const obstacle_detector::CircleObstacle& circle) {
+void CircleVisual::setData(const processing_lidar_objects::CircleObstacle& circle) {
   Ogre::Vector3 pos(circle.center.x, circle.center.y, 0.25);
   obstacle_->setPosition(pos);
 
diff --git a/src/displays/obstacles_display.cpp b/src/displays/obstacles_display.cpp
index c905c4b..23071c7 100644
--- a/src/displays/obstacles_display.cpp
+++ b/src/displays/obstacles_display.cpp
@@ -33,7 +33,7 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/displays/obstacles_display.h"
+#include "processing_lidar_objects/displays/obstacles_display.h"
 
 namespace obstacles_display
 {
@@ -47,13 +47,13 @@ ObstaclesDisplay::ObstaclesDisplay() {
 }
 
 void ObstaclesDisplay::onInitialize() {
-  MessageFilterDisplay<obstacle_detector::Obstacles>::onInitialize();
+  MessageFilterDisplay<processing_lidar_objects::Obstacles>::onInitialize();
 }
 
 ObstaclesDisplay::~ObstaclesDisplay() {}
 
 void ObstaclesDisplay::reset() {
-  MessageFilterDisplay<obstacle_detector::Obstacles>::reset();
+  MessageFilterDisplay<processing_lidar_objects::Obstacles>::reset();
   circle_visuals_.clear();
   segment_visuals_.clear();
 }
@@ -89,7 +89,7 @@ void ObstaclesDisplay::updateThickness() {
     s->setWidth(width);
 }
 
-void ObstaclesDisplay::processMessage(const obstacle_detector::Obstacles::ConstPtr& obstacles_msg) {
+void ObstaclesDisplay::processMessage(const processing_lidar_objects::Obstacles::ConstPtr& obstacles_msg) {
   circle_visuals_.clear();
   segment_visuals_.clear();
 
diff --git a/src/displays/segment_visual.cpp b/src/displays/segment_visual.cpp
index 1921ff9..0fed1a1 100644
--- a/src/displays/segment_visual.cpp
+++ b/src/displays/segment_visual.cpp
@@ -33,7 +33,7 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/displays/segment_visual.h"
+#include "processing_lidar_objects/displays/segment_visual.h"
 
 namespace obstacles_display
 {
@@ -49,7 +49,7 @@ SegmentVisual::~SegmentVisual() {
   scene_manager_->destroySceneNode(frame_node_);
 }
 
-void SegmentVisual::setData(const obstacle_detector::SegmentObstacle& segment) {
+void SegmentVisual::setData(const processing_lidar_objects::SegmentObstacle& segment) {
   Ogre::Vector3 p1(segment.first_point.x, segment.first_point.y, 0.0);
   Ogre::Vector3 p2(segment.last_point.x, segment.last_point.y, 0.0);
   line_->addPoint(p1);
diff --git a/src/nodelets/obstacle_extractor_nodelet.cpp b/src/nodelets/obstacle_extractor_nodelet.cpp
index 617d2b3..865a40a 100644
--- a/src/nodelets/obstacle_extractor_nodelet.cpp
+++ b/src/nodelets/obstacle_extractor_nodelet.cpp
@@ -36,9 +36,9 @@
 #include <memory>
 #include <nodelet/nodelet.h>
 
-#include "obstacle_detector/obstacle_extractor.h"
+#include "processing_lidar_objects/obstacle_extractor.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstacleExtractorNodelet : public nodelet::Nodelet
@@ -68,7 +68,7 @@ class ObstacleExtractorNodelet : public nodelet::Nodelet
   std::shared_ptr<ObstacleExtractor> obstacle_extractor_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
 
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_EXPORT_CLASS(obstacle_detector::ObstacleExtractorNodelet, nodelet::Nodelet)
+PLUGINLIB_EXPORT_CLASS(processing_lidar_objects::ObstacleExtractorNodelet, nodelet::Nodelet)
diff --git a/src/nodelets/obstacle_publisher_nodelet.cpp b/src/nodelets/obstacle_publisher_nodelet.cpp
index 270101b..b27d1a5 100644
--- a/src/nodelets/obstacle_publisher_nodelet.cpp
+++ b/src/nodelets/obstacle_publisher_nodelet.cpp
@@ -36,9 +36,9 @@
 #include <memory>
 #include <nodelet/nodelet.h>
 
-#include "obstacle_detector/obstacle_publisher.h"
+#include "processing_lidar_objects/obstacle_publisher.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstaclePublisherNodelet : public nodelet::Nodelet
@@ -68,7 +68,7 @@ class ObstaclePublisherNodelet : public nodelet::Nodelet
   std::shared_ptr<ObstaclePublisher> obstacle_publisher_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
 
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_EXPORT_CLASS(obstacle_detector::ObstaclePublisherNodelet, nodelet::Nodelet)
+PLUGINLIB_EXPORT_CLASS(processing_lidar_objects::ObstaclePublisherNodelet, nodelet::Nodelet)
diff --git a/src/nodelets/obstacle_tracker_nodelet.cpp b/src/nodelets/obstacle_tracker_nodelet.cpp
index 78244a3..9289099 100644
--- a/src/nodelets/obstacle_tracker_nodelet.cpp
+++ b/src/nodelets/obstacle_tracker_nodelet.cpp
@@ -36,9 +36,9 @@
 #include <memory>
 #include <nodelet/nodelet.h>
 
-#include "obstacle_detector/obstacle_tracker.h"
+#include "processing_lidar_objects/obstacle_tracker.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ObstacleTrackerNodelet : public nodelet::Nodelet
@@ -68,7 +68,7 @@ class ObstacleTrackerNodelet : public nodelet::Nodelet
   std::shared_ptr<ObstacleTracker> obstacle_tracker_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
 
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_EXPORT_CLASS(obstacle_detector::ObstacleTrackerNodelet, nodelet::Nodelet)
+PLUGINLIB_EXPORT_CLASS(processing_lidar_objects::ObstacleTrackerNodelet, nodelet::Nodelet)
diff --git a/src/nodelets/scans_merger_nodelet.cpp b/src/nodelets/scans_merger_nodelet.cpp
index a9fa11c..d985d32 100644
--- a/src/nodelets/scans_merger_nodelet.cpp
+++ b/src/nodelets/scans_merger_nodelet.cpp
@@ -36,9 +36,9 @@
 #include <memory>
 #include <nodelet/nodelet.h>
 
-#include "obstacle_detector/scans_merger.h"
+#include "processing_lidar_objects/scans_merger.h"
 
-namespace obstacle_detector
+namespace processing_lidar_objects
 {
 
 class ScansMergerNodelet : public nodelet::Nodelet
@@ -68,7 +68,7 @@ class ScansMergerNodelet : public nodelet::Nodelet
   std::shared_ptr<ScansMerger> scans_merger_;
 };
 
-} // namespace obstacle_detector
+} // namespace processing_lidar_objects
 
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_EXPORT_CLASS(obstacle_detector::ScansMergerNodelet, nodelet::Nodelet)
+PLUGINLIB_EXPORT_CLASS(processing_lidar_objects::ScansMergerNodelet, nodelet::Nodelet)
diff --git a/src/nodes/obstacle_extractor_node.cpp b/src/nodes/obstacle_extractor_node.cpp
index 09c95bc..ba05d38 100644
--- a/src/nodes/obstacle_extractor_node.cpp
+++ b/src/nodes/obstacle_extractor_node.cpp
@@ -33,9 +33,9 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/obstacle_extractor.h"
+#include "processing_lidar_objects/obstacle_extractor.h"
 
-using namespace obstacle_detector;
+using namespace processing_lidar_objects;
 
 int main(int argc, char** argv) {
   ros::init(argc, argv, "obstacle_extractor", ros::init_options::NoRosout);
diff --git a/src/nodes/obstacle_publisher_node.cpp b/src/nodes/obstacle_publisher_node.cpp
index 6ff875a..0b846dc 100644
--- a/src/nodes/obstacle_publisher_node.cpp
+++ b/src/nodes/obstacle_publisher_node.cpp
@@ -33,9 +33,9 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/obstacle_publisher.h"
+#include "processing_lidar_objects/obstacle_publisher.h"
 
-using namespace obstacle_detector;
+using namespace processing_lidar_objects;
 
 int main(int argc, char** argv) {
   ros::init(argc, argv, "obstacle_publisher", ros::init_options::NoRosout);
diff --git a/src/nodes/obstacle_tracker_node.cpp b/src/nodes/obstacle_tracker_node.cpp
index efb9400..1d034d4 100644
--- a/src/nodes/obstacle_tracker_node.cpp
+++ b/src/nodes/obstacle_tracker_node.cpp
@@ -33,9 +33,9 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/obstacle_tracker.h"
+#include "processing_lidar_objects/obstacle_tracker.h"
 
-using namespace obstacle_detector;
+using namespace processing_lidar_objects;
 
 int main(int argc, char** argv) {
   ros::init(argc, argv, "obstacle_tracker", ros::init_options::NoRosout);
diff --git a/src/nodes/scans_merger_node.cpp b/src/nodes/scans_merger_node.cpp
index 19c08e2..b45e75a 100644
--- a/src/nodes/scans_merger_node.cpp
+++ b/src/nodes/scans_merger_node.cpp
@@ -33,9 +33,9 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/scans_merger.h"
+#include "processing_lidar_objects/scans_merger.h"
 
-using namespace obstacle_detector;
+using namespace processing_lidar_objects;
 
 int main(int argc, char** argv) {
   ros::init(argc, argv, "scans_merger", ros::init_options::NoRosout);
diff --git a/src/obstacle_extractor.cpp b/src/obstacle_extractor.cpp
index 8a30ebc..e73d891 100644
--- a/src/obstacle_extractor.cpp
+++ b/src/obstacle_extractor.cpp
@@ -33,12 +33,12 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/obstacle_extractor.h"
-#include "obstacle_detector/utilities/figure_fitting.h"
-#include "obstacle_detector/utilities/math_utilities.h"
+#include "processing_lidar_objects/obstacle_extractor.h"
+#include "processing_lidar_objects/utilities/figure_fitting.h"
+#include "processing_lidar_objects/utilities/math_utilities.h"
 
 using namespace std;
-using namespace obstacle_detector;
+using namespace processing_lidar_objects;
 
 ObstacleExtractor::ObstacleExtractor(ros::NodeHandle& nh, ros::NodeHandle& nh_local) : nh_(nh), nh_local_(nh_local) {
   p_active_ = false;
@@ -111,11 +111,11 @@ bool ObstacleExtractor::updateParams(std_srvs::Empty::Request &req, std_srvs::Em
       else if (p_use_pcl_)
         pcl_sub_ = nh_.subscribe("pcl", 10, &ObstacleExtractor::pclCallback, this);
 
-      obstacles_pub_ = nh_.advertise<obstacle_detector::Obstacles>("raw_obstacles", 10);
+      obstacles_pub_ = nh_.advertise<processing_lidar_objects::Obstacles>("raw_obstacles", 10);
     }
     else {
       // Send empty message
-      obstacle_detector::ObstaclesPtr obstacles_msg(new obstacle_detector::Obstacles);
+      processing_lidar_objects::ObstaclesPtr obstacles_msg(new processing_lidar_objects::Obstacles);
       obstacles_msg->header.frame_id = p_frame_id_;
       obstacles_msg->header.stamp = ros::Time::now();
       obstacles_pub_.publish(obstacles_msg);
@@ -403,7 +403,7 @@ bool ObstacleExtractor::compareCircles(const Circle& c1, const Circle& c2, Circl
 }
 
 void ObstacleExtractor::publishObstacles() {
-  obstacle_detector::ObstaclesPtr obstacles_msg(new obstacle_detector::Obstacles);
+  processing_lidar_objects::ObstaclesPtr obstacles_msg(new processing_lidar_objects::Obstacles);
   obstacles_msg->header.stamp = stamp_;
 
   if (p_transform_coordinates_) {
diff --git a/src/obstacle_publisher.cpp b/src/obstacle_publisher.cpp
index 2ea1475..fbdc471 100644
--- a/src/obstacle_publisher.cpp
+++ b/src/obstacle_publisher.cpp
@@ -33,10 +33,10 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/obstacle_publisher.h"
+#include "processing_lidar_objects/obstacle_publisher.h"
 
 using namespace std;
-using namespace obstacle_detector;
+using namespace processing_lidar_objects;
 
 ObstaclePublisher::ObstaclePublisher(ros::NodeHandle& nh, ros::NodeHandle& nh_local) : nh_(nh), nh_local_(nh_local) {
   p_active_ = false;
@@ -93,7 +93,7 @@ bool ObstaclePublisher::updateParams(std_srvs::Empty::Request& req, std_srvs::Em
 
   if (p_active_ != prev_active) {
     if (p_active_) {
-      obstacle_pub_ = nh_.advertise<obstacle_detector::Obstacles>("obstacles", 10);
+      obstacle_pub_ = nh_.advertise<processing_lidar_objects::Obstacles>("obstacles", 10);
       timer_.start();
     }
     else {
@@ -219,7 +219,7 @@ void ObstaclePublisher::fissionExample(double t) {
 }
 
 void ObstaclePublisher::publishObstacles() {
-  obstacle_detector::ObstaclesPtr obstacles_msg(new obstacle_detector::Obstacles);
+  processing_lidar_objects::ObstaclesPtr obstacles_msg(new processing_lidar_objects::Obstacles);
   *obstacles_msg = obstacles_;
 
   obstacles_msg->header.stamp = ros::Time::now();
diff --git a/src/obstacle_tracker.cpp b/src/obstacle_tracker.cpp
index 52efe1b..d98096f 100644
--- a/src/obstacle_tracker.cpp
+++ b/src/obstacle_tracker.cpp
@@ -33,9 +33,9 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/obstacle_tracker.h"
+#include "processing_lidar_objects/obstacle_tracker.h"
 
-using namespace obstacle_detector;
+using namespace processing_lidar_objects;
 using namespace arma;
 using namespace std;
 
@@ -92,12 +92,12 @@ bool ObstacleTracker::updateParams(std_srvs::Empty::Request &req, std_srvs::Empt
   if (p_active_ != prev_active) {
     if (p_active_) {
       obstacles_sub_ = nh_.subscribe("raw_obstacles", 10, &ObstacleTracker::obstaclesCallback, this);
-      obstacles_pub_ = nh_.advertise<obstacle_detector::Obstacles>("tracked_obstacles", 10);
+      obstacles_pub_ = nh_.advertise<processing_lidar_objects::Obstacles>("tracked_obstacles", 10);
       timer_.start();
     }
     else {
       // Send empty message
-      obstacle_detector::ObstaclesPtr obstacles_msg(new obstacle_detector::Obstacles);
+      processing_lidar_objects::ObstaclesPtr obstacles_msg(new processing_lidar_objects::Obstacles);
       obstacles_msg->header.frame_id = obstacles_.header.frame_id;
       obstacles_msg->header.stamp = ros::Time::now();
       obstacles_pub_.publish(obstacles_msg);
@@ -120,7 +120,7 @@ void ObstacleTracker::timerCallback(const ros::TimerEvent&) {
   publishObstacles();
 }
 
-void ObstacleTracker::obstaclesCallback(const obstacle_detector::Obstacles::ConstPtr new_obstacles) {
+void ObstacleTracker::obstaclesCallback(const processing_lidar_objects::Obstacles::ConstPtr new_obstacles) {
   if (new_obstacles->circles.size() > 0)
     radius_margin_ = new_obstacles->circles[0].radius - new_obstacles->circles[0].true_radius;
 
@@ -463,7 +463,7 @@ void ObstacleTracker::updateObstacles() {
 }
 
 void ObstacleTracker::publishObstacles() {
-  obstacle_detector::ObstaclesPtr obstacles_msg(new obstacle_detector::Obstacles);
+  processing_lidar_objects::ObstaclesPtr obstacles_msg(new processing_lidar_objects::Obstacles);
 
   obstacles_.circles.clear();
 
diff --git a/src/panels/obstacle_extractor_panel.cpp b/src/panels/obstacle_extractor_panel.cpp
index 23f8810..8b06186 100644
--- a/src/panels/obstacle_extractor_panel.cpp
+++ b/src/panels/obstacle_extractor_panel.cpp
@@ -33,9 +33,9 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/panels/obstacle_extractor_panel.h"
+#include "processing_lidar_objects/panels/obstacle_extractor_panel.h"
 
-using namespace obstacle_detector;
+using namespace processing_lidar_objects;
 using namespace std;
 
 ObstacleExtractorPanel::ObstacleExtractorPanel(QWidget* parent) : rviz::Panel(parent), nh_(""), nh_local_("obstacle_extractor") {
@@ -331,4 +331,4 @@ void ObstacleExtractorPanel::load(const rviz::Config& config) {
 }
 
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_EXPORT_CLASS(obstacle_detector::ObstacleExtractorPanel, rviz::Panel)
+PLUGINLIB_EXPORT_CLASS(processing_lidar_objects::ObstacleExtractorPanel, rviz::Panel)
diff --git a/src/panels/obstacle_publisher_panel.cpp b/src/panels/obstacle_publisher_panel.cpp
index 8bc9b58..57da150 100644
--- a/src/panels/obstacle_publisher_panel.cpp
+++ b/src/panels/obstacle_publisher_panel.cpp
@@ -33,9 +33,9 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/panels/obstacle_publisher_panel.h"
+#include "processing_lidar_objects/panels/obstacle_publisher_panel.h"
 
-using namespace obstacle_detector;
+using namespace processing_lidar_objects;
 using namespace std;
 
 ObstaclePublisherPanel::ObstaclePublisherPanel(QWidget* parent) : rviz::Panel(parent), nh_(""), nh_local_("obstacle_publisher") {
@@ -325,4 +325,4 @@ void ObstaclePublisherPanel::load(const rviz::Config& config) {
 }
 
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_EXPORT_CLASS(obstacle_detector::ObstaclePublisherPanel, rviz::Panel)
+PLUGINLIB_EXPORT_CLASS(processing_lidar_objects::ObstaclePublisherPanel, rviz::Panel)
diff --git a/src/panels/obstacle_tracker_panel.cpp b/src/panels/obstacle_tracker_panel.cpp
index 8e5a481..d506f12 100644
--- a/src/panels/obstacle_tracker_panel.cpp
+++ b/src/panels/obstacle_tracker_panel.cpp
@@ -33,9 +33,9 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/panels/obstacle_tracker_panel.h"
+#include "processing_lidar_objects/panels/obstacle_tracker_panel.h"
 
-using namespace obstacle_detector;
+using namespace processing_lidar_objects;
 using namespace std;
 
 ObstacleTrackerPanel::ObstacleTrackerPanel(QWidget* parent) : rviz::Panel(parent), nh_(""), nh_local_("obstacle_tracker") {
@@ -225,4 +225,4 @@ void ObstacleTrackerPanel::load(const rviz::Config& config) {
 }
 
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_EXPORT_CLASS(obstacle_detector::ObstacleTrackerPanel, rviz::Panel)
+PLUGINLIB_EXPORT_CLASS(processing_lidar_objects::ObstacleTrackerPanel, rviz::Panel)
diff --git a/src/panels/scans_merger_panel.cpp b/src/panels/scans_merger_panel.cpp
index 8aab6ab..05e49f6 100644
--- a/src/panels/scans_merger_panel.cpp
+++ b/src/panels/scans_merger_panel.cpp
@@ -33,9 +33,9 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/panels/scans_merger_panel.h"
+#include "processing_lidar_objects/panels/scans_merger_panel.h"
 
-using namespace obstacle_detector;
+using namespace processing_lidar_objects;
 using namespace std;
 
 ScansMergerPanel::ScansMergerPanel(QWidget* parent) : rviz::Panel(parent), nh_(""), nh_local_("scans_merger") {
@@ -305,4 +305,4 @@ void ScansMergerPanel::load(const rviz::Config& config) {
 }
 
 #include <pluginlib/class_list_macros.h>
-PLUGINLIB_EXPORT_CLASS(obstacle_detector::ScansMergerPanel, rviz::Panel)
+PLUGINLIB_EXPORT_CLASS(processing_lidar_objects::ScansMergerPanel, rviz::Panel)
diff --git a/src/scans_merger.cpp b/src/scans_merger.cpp
index 8e3e07d..39c76ea 100644
--- a/src/scans_merger.cpp
+++ b/src/scans_merger.cpp
@@ -33,9 +33,9 @@
  * Author: Mateusz Przybyla
  */
 
-#include "obstacle_detector/scans_merger.h"
+#include "processing_lidar_objects/scans_merger.h"
 
-using namespace obstacle_detector;
+using namespace processing_lidar_objects;
 using namespace std;
 
 ScansMerger::ScansMerger(ros::NodeHandle& nh, ros::NodeHandle& nh_local) : nh_(nh), nh_local_(nh_local) {