diff --git a/conf/detection.object.ros.ork b/conf/detection.object.ros.ork
index 7eea9e5..2c63d6f 100644
--- a/conf/detection.object.ros.ork
+++ b/conf/detection.object.ros.ork
@@ -23,19 +23,16 @@ sink1:
   type: TablePublisher
   module: 'object_recognition_tabletop'
   inputs: [source1]
-  visualize: True
 
 sink2:
   type: Publisher
   module: 'object_recognition_ros.io'
   inputs: [source1]
-  visualize: True
-  publish_clusters: False
+
 
 pipeline1:
   type: TabletopTableDetector
   module: 'object_recognition_tabletop'
-  subtype: ''
   inputs: [source1]
   outputs: [sink1]
   parameters:
@@ -49,7 +46,6 @@ pipeline1:
 pipeline2:
   type: TabletopObjectDetector
   module: 'object_recognition_tabletop'
-  subtype: ''
   inputs: [source1, pipeline1]
   outputs: [sink2]
   parameters:
diff --git a/db_plugin.xml b/db_plugin.xml
index 8c36ff6..f19eb06 100644
--- a/db_plugin.xml
+++ b/db_plugin.xml
@@ -1,4 +1,4 @@
-<library path="lib/libtabletop_db">
+<library path="libtabletop_db">
   <class type="ObjectDbSqlHousehold" base_class_type="object_recognition_core::db::ObjectDb">
   <description>
   This is a plugin to wrap the DB used in Tabletop (based on the household DB) in the RViz plugin
diff --git a/launch/tabletop.launch b/launch/tabletop.launch
index 20f3dbd..15f7531 100644
--- a/launch/tabletop.launch
+++ b/launch/tabletop.launch
@@ -6,10 +6,12 @@
 
   <node name="recognize_tabletop_objects_server" launch-prefix="$(arg launch_prefix)" pkg="object_recognition_ros" type="server" respawn="false" output="screen" args="--node_name tabletop_object_recognition -c $(find object_recognition_tabletop)/conf/detection.object.ros.ork">
     
-    <remap from="camera_rgb_camera_info" to="/head_mount_kinect/rgb/camera_info"/>
-    <remap from="camera_rgb_image_rect_color" to="/head_mount_kinect/rgb/image_rect_color"/>
-    <remap from="camera_depth_registered_camera_info" to="/head_mount_kinect/depth_registered/camera_info"/>
-    <remap from="camera_depth_registered_image_rect" to="/head_mount_kinect/depth_registered/image_rect"/>
+    <remap from="/camera/rgb/camera_info" to="/head_mount_kinect/rgb/camera_info"/>
+    <remap from="/camera/rgb/image_rect_color" to="/head_mount_kinect/rgb/image_rect_color"/>
+    <remap from="/camera/rgb/image_color" to="/head_mount_kinect/rgb/image_color"/>
+    <remap from="/camera/depth_registered/camera_info" to="/head_mount_kinect/depth_registered/camera_info"/>
+    <remap from="/camera/depth_registered/image_rect" to="/head_mount_kinect/depth_registered/image_rect"/>
+    <remap from="/camera/depth_registered/image" to="/head_mount_kinect/depth_registered/image"/>
 
   </node>
 
diff --git a/manifest.xml b/manifest.xml
deleted file mode 100644
index d168ca6..0000000
--- a/manifest.xml
+++ /dev/null
@@ -1 +0,0 @@
-<package/>
diff --git a/package.xml b/package.xml
index 994afc7..503abda 100644
--- a/package.xml
+++ b/package.xml
@@ -22,6 +22,7 @@
   <build_depend>pcl_ros</build_depend>
   <build_depend>sql_database</build_depend>
   <build_depend>tf</build_depend>
+  <build_depend>pluginlib</build_depend>
 
   <run_depend>ecto</run_depend>
   <run_depend>ecto_pcl</run_depend>
@@ -34,6 +35,7 @@
   <run_depend>pcl_ros</run_depend>
   <run_depend>sql_database</run_depend>
   <run_depend>tf</run_depend>
+  <run_depend>pluginlib</run_depend>
 
   <buildtool_depend>catkin</buildtool_depend>
 
diff --git a/stack.xml b/stack.xml
deleted file mode 100644
index 878567a..0000000
--- a/stack.xml
+++ /dev/null
@@ -1,27 +0,0 @@
-<stack>
-  <name>object_recognition_tabletop</name>
-  <version>0.2.22</version>
-  <description>A port of the old tabletop object recognition</description>
-  <author>Marius Muja</author>
-  <author email="vrabaud@willowgarage.com">Vincent Rabaud</author>
-  <maintainer email="vincent.rabaud@gmail.com">Vincent Rabaud</maintainer>
-  <maintainer email="jbinney@willowgarage.com">Jon Binney</maintainer>
-  <license>BSD</license>
-  <copyright>Willow Garage</copyright>
-
-  <url>http://ecto.willowgarage.com</url>
-  <build_depends>catkin</build_depends>
-  <build_depends>ecto</build_depends>
-  <build_depends>ecto_pcl</build_depends>
-  <build_depends>ecto_ros</build_depends>
-  <build_depends>object_recognition_core</build_depends>
-  <build_depends>object_recognition_msgs</build_depends>
-  <build_depends>opencv_candidate</build_depends>
-
-  <depends>ecto</depends>
-  <depends>ecto_pcl</depends>
-  <depends>ecto_ros</depends>
-  <depends>object_recognition_core</depends>
-  <depends>object_recognition_msgs</depends>
-  <depends>opencv_candidate</depends>
-</stack>