diff --git a/src/io/io_packageparser.js b/src/io/io_packageparser.js
index 8dd8eb0..578aa92 100644
--- a/src/io/io_packageparser.js
+++ b/src/io/io_packageparser.js
@@ -12,11 +12,10 @@ IO.PackageParser = new (function() {
 		var add_behaviors = [];
 
 		ROS.getPackageList((pkg_list) => {
-			pkg_cache.forEach(entry => { pkg_list.remove(entry); });
+			pkg_list = pkg_list.filter(entry => pkg_cache.findElement(cached => cached['name'] == entry['name']) == undefined);
 			var pkg_count = pkg_list.length;
 			if (pkg_count > 0) {
-				//T.logInfo("Checking "+pkg_count+" newly detected ROS packages for states and behaviors...");
-				T.logInfo("Checking "+pkg_count+" ROS packages for states and behaviors...");
+				T.logInfo("Checking "+pkg_count+" ROS packages for states and behaviors  ("+pkg_cache.length+" in cache)...");
 			} else {
 				T.logInfo("No new ROS packages detected ("+pkg_cache.length+" in cache).");
 			}
diff --git a/src/ros/ros.js b/src/ros/ros.js
index 02a6de7..e79bfe5 100644
--- a/src/ros/ros.js
+++ b/src/ros/ros.js
@@ -99,35 +99,35 @@ rospy.spin()
 					break;
 				}
 			}
-		});
-		if (python_path !== undefined) {
-            process.nextTick(() => {
-                callback(python_path);
-            });
-    	} else {
-			var proc = spawn('python', ['-c', `import importlib; print(importlib.import_module('` + package_name + `').__path__[-1])`]);
-			var path_data = '';
-			proc.stdout.on('data', data => {
-				path_data += data;
-			});
-			proc.stderr.on('data', data => {
-				console.log(package_name+" failed to import: "+data);
-			});
-			proc.on('close', (code) => {
-				if (path_data != "") {
-					python_path = path_data.replace(/\n/g, '');
-					for (var i=0; i<package_cache.length; i++) {
-						if (package_cache[i]['name'] == package_name) {
-							package_cache[i]['python_path'] = python_path;
-							break;
+			if (python_path !== undefined) {
+				process.nextTick(() => {
+					callback(python_path);
+				});
+			} else {
+				var proc = spawn('python', ['-c', `import importlib; print(importlib.import_module('` + package_name + `').__path__[-1])`]);
+				var path_data = '';
+				proc.stdout.on('data', data => {
+					path_data += data;
+				});
+				proc.stderr.on('data', data => {
+					console.log(package_name+" failed to import: "+data);
+				});
+				proc.on('close', (code) => {
+					if (path_data != "") {
+						python_path = path_data.replace(/\n/g, '');
+						for (var i=0; i<package_cache.length; i++) {
+							if (package_cache[i]['name'] == package_name) {
+								package_cache[i]['python_path'] = python_path;
+								break;
+							}
 						}
+						callback(python_path);
+					} else {
+						callback(undefined);
 					}
-					callback(python_path);
-				} else {
-					callback(undefined);
-				}
-			});
-		}
+				});
+			}
+		});
 	}
 
 	// that.getParam = function(name, callback) {