diff --git a/MbedHardware.h b/MbedHardware.h
index 94d8fc0..e036006 100644
--- a/MbedHardware.h
+++ b/MbedHardware.h
@@ -13,7 +13,7 @@
 
 class MbedHardware {
   public:
-    MbedHardware(PinName tx, PinName rx, long baud = 57600)
+    MbedHardware(PinName tx, PinName rx, long baud = ROSSERIAL_BAUDRATE)
       :iostream(tx, rx){
       baud_ = baud;
       t.start();
@@ -21,7 +21,7 @@ class MbedHardware {
 
     MbedHardware()
       :iostream(ROSSERIAL_TX, ROSSERIAL_RX) {
-        baud_ = 57600;
+        baud_ = ROSSERIAL_BAUDRATE;
         t.start();
     }
 
diff --git a/README.md b/README.md
index 7c1a25c..fe98057 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,6 @@
 # rosserial-mbed-lib
 
-This repository is a slightly modified content of `ros_lib` directory created accordingly to [rosserial MBED Setup](http://wiki.ros.org/rosserial_mbed/Tutorials/rosserial_mbed%20Setup) tutorial from official ros documentation. Modification involves changing default Serial pins used by library to fit CORE2 RPI connector. You can adjust them in `mbed_app.json` under "target_overrides" tag.
+This repository is a slightly modified content of `ros_lib` directory created accordingly to [rosserial MBED Setup](http://wiki.ros.org/rosserial_mbed/Tutorials/rosserial_mbed%20Setup) tutorial from official ros documentation.
 
 Condensed, step by step recipe:
 1. `$ mkdir -p ~/ros_workspace/src && cd ros_workspace/src && catkin_init_workspace`
@@ -9,6 +9,20 @@ Condensed, step by step recipe:
 4. `$ source devel/setup.bash`
 5. `$ rosrun rosserial_mbed make_libraries.py ~/workspace/ros/lib`
 
+This library is compatible with Mbed CLI tools. You can change default Serial pins and baudrate used by rosserial in `mbed_app.json`. 
 
+Example:
+
+```json
+{
+    "target_overrides":{
+        "*": {
+            "mbed-rosserial-lib.tx_pin": "MY_TX_PIN",
+            "mbed-rosserial-lib.rx_pin": "MY_RX_PIN",
+            "mbed-rosserial-lib.baudrate": "230400"
+        }
+    }
+}
+```
 
 
diff --git a/actionlib_msgs/GoalID.h b/actionlib_msgs/GoalID.h
index 160ca8a..cb553fd 100644
--- a/actionlib_msgs/GoalID.h
+++ b/actionlib_msgs/GoalID.h
@@ -5,7 +5,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include "ros/msg.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 
 namespace actionlib_msgs
 {
diff --git a/control_msgs/QueryTrajectoryState.h b/control_msgs/QueryTrajectoryState.h
index aef19a8..d23f60d 100644
--- a/control_msgs/QueryTrajectoryState.h
+++ b/control_msgs/QueryTrajectoryState.h
@@ -4,7 +4,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include "ros/msg.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 
 namespace control_msgs
 {
diff --git a/gazebo_msgs/ApplyBodyWrench.h b/gazebo_msgs/ApplyBodyWrench.h
index e7af6bb..bd6c4b4 100644
--- a/gazebo_msgs/ApplyBodyWrench.h
+++ b/gazebo_msgs/ApplyBodyWrench.h
@@ -6,7 +6,7 @@
 #include "ros/msg.h"
 #include "ros/duration.h"
 #include "geometry_msgs/Wrench.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 #include "geometry_msgs/Point.h"
 
 namespace gazebo_msgs
diff --git a/gazebo_msgs/ApplyJointEffort.h b/gazebo_msgs/ApplyJointEffort.h
index 636084f..07b750b 100644
--- a/gazebo_msgs/ApplyJointEffort.h
+++ b/gazebo_msgs/ApplyJointEffort.h
@@ -5,7 +5,7 @@
 #include <stdlib.h>
 #include "ros/msg.h"
 #include "ros/duration.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 
 namespace gazebo_msgs
 {
diff --git a/laser_assembler/AssembleScans.h b/laser_assembler/AssembleScans.h
index 7aa8745..7607289 100644
--- a/laser_assembler/AssembleScans.h
+++ b/laser_assembler/AssembleScans.h
@@ -4,7 +4,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include "ros/msg.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 #include "sensor_msgs/PointCloud.h"
 
 namespace laser_assembler
diff --git a/laser_assembler/AssembleScans2.h b/laser_assembler/AssembleScans2.h
index ae2f6b7..535af6d 100644
--- a/laser_assembler/AssembleScans2.h
+++ b/laser_assembler/AssembleScans2.h
@@ -5,7 +5,7 @@
 #include <stdlib.h>
 #include "ros/msg.h"
 #include "sensor_msgs/PointCloud2.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 
 namespace laser_assembler
 {
diff --git a/mbed_lib.json b/mbed_lib.json
index ffaf062..db2a8c1 100644
--- a/mbed_lib.json
+++ b/mbed_lib.json
@@ -1,15 +1,20 @@
 {
     "name": "mbed-rosserial-lib",
     "config": {
-        "default_tx_pin": {
-            "help": "Default library's Serial TX pin.",
+        "tx_pin": {
+            "help": "Default library Serial TX pin.",
             "macro_name": "ROSSERIAL_TX",
-            "value": "RPI_SERIAL_TX"
+            "value": "USBTX"
         },
-        "default_rx_pin": {
-            "help": "Default library's Serial RX pin.",
+        "rx_pin": {
+            "help": "Default library Serial RX pin.",
             "macro_name": "ROSSERIAL_RX",
-            "value": "RPI_SERIAL_RX"
+            "value": "USBRX"
+        },
+        "rx_baudrate": {
+            "help": "Default library Serial baudrate.",
+            "macro_name": "ROSSERIAL_BAUDRATE",
+            "value": "115200"
         }
     }
 }
\ No newline at end of file
diff --git a/nav_msgs/MapMetaData.h b/nav_msgs/MapMetaData.h
index 5ac655b..3052ccf 100644
--- a/nav_msgs/MapMetaData.h
+++ b/nav_msgs/MapMetaData.h
@@ -5,7 +5,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include "ros/msg.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 #include "geometry_msgs/Pose.h"
 
 namespace nav_msgs
diff --git a/polled_camera/GetPolledImage.h b/polled_camera/GetPolledImage.h
index b062405..0b38504 100644
--- a/polled_camera/GetPolledImage.h
+++ b/polled_camera/GetPolledImage.h
@@ -6,7 +6,7 @@
 #include "ros/msg.h"
 #include "sensor_msgs/RegionOfInterest.h"
 #include "ros/duration.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 
 namespace polled_camera
 {
diff --git a/ros/time.h b/ros/ros_time.h
similarity index 97%
rename from ros/time.h
rename to ros/ros_time.h
index 441d952..dda5d8b 100644
--- a/ros/time.h
+++ b/ros/ros_time.h
@@ -32,10 +32,10 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#ifndef ROS_TIME_H_
-#define ROS_TIME_H_
+#ifndef __ROS_TIME_H__
+#define __ROS_TIME_H__
 
-#include "ros/duration.h"
+#include "duration.h"
 #include <math.h>
 #include <stdint.h>
 
diff --git a/rosgraph_msgs/Clock.h b/rosgraph_msgs/Clock.h
index febd870..aa64200 100644
--- a/rosgraph_msgs/Clock.h
+++ b/rosgraph_msgs/Clock.h
@@ -5,7 +5,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include "ros/msg.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 
 namespace rosgraph_msgs
 {
diff --git a/rosgraph_msgs/TopicStatistics.h b/rosgraph_msgs/TopicStatistics.h
index a11f784..43bd508 100644
--- a/rosgraph_msgs/TopicStatistics.h
+++ b/rosgraph_msgs/TopicStatistics.h
@@ -5,7 +5,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include "ros/msg.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 #include "ros/duration.h"
 
 namespace rosgraph_msgs
diff --git a/sensor_msgs/TimeReference.h b/sensor_msgs/TimeReference.h
index dbb8a02..70826c3 100644
--- a/sensor_msgs/TimeReference.h
+++ b/sensor_msgs/TimeReference.h
@@ -6,7 +6,7 @@
 #include <stdlib.h>
 #include "ros/msg.h"
 #include "std_msgs/Header.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 
 namespace sensor_msgs
 {
diff --git a/std_msgs/.mbedignore b/std_msgs/.mbedignore
new file mode 100644
index 0000000..8f4295a
--- /dev/null
+++ b/std_msgs/.mbedignore
@@ -0,0 +1,32 @@
+Bool.h
+Byte.h
+ByteMultiArray.h
+Char.h
+ColorRGBA.h
+Duration.h
+Empty.h
+Float32.h
+Float32MultiArray.h
+Float64.h
+Float64MultiArray.h
+Header.h
+Int16.h
+Int16MultiArray.h
+Int32.h
+Int32MultiArray.h
+Int64.h
+Int64MultiArray.h
+Int8.h
+Int8MultiArray.h
+MultiArrayDimension.h
+MultiArrayLayout.h
+String.h
+Time.h
+UInt16.h
+UInt16MultiArray.h
+UInt32.h
+UInt32MultiArray.h
+UInt64.h
+UInt64MultiArray.h
+UInt8.h
+UInt8MultiArray.h
diff --git a/std_msgs/Header.h b/std_msgs/Header.h
index f7b0944..7ba5515 100644
--- a/std_msgs/Header.h
+++ b/std_msgs/Header.h
@@ -5,7 +5,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include "ros/msg.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 
 namespace std_msgs
 {
diff --git a/std_msgs/Time.h b/std_msgs/Time.h
index c1ca708..2fba3cb 100644
--- a/std_msgs/Time.h
+++ b/std_msgs/Time.h
@@ -5,7 +5,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include "ros/msg.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 
 namespace std_msgs
 {
diff --git a/tf2_msgs/LookupTransformGoal.h b/tf2_msgs/LookupTransformGoal.h
index 11cc856..d001db4 100644
--- a/tf2_msgs/LookupTransformGoal.h
+++ b/tf2_msgs/LookupTransformGoal.h
@@ -5,7 +5,7 @@
 #include <string.h>
 #include <stdlib.h>
 #include "ros/msg.h"
-#include "ros/time.h"
+#include "ros/ros_time.h"
 #include "ros/duration.h"
 
 namespace tf2_msgs
diff --git a/time.cpp b/time.cpp
index 86221f9..2482e5d 100644
--- a/time.cpp
+++ b/time.cpp
@@ -32,7 +32,7 @@
  * POSSIBILITY OF SUCH DAMAGE.
  */
 
-#include "ros/time.h"
+#include "ros/ros_time.h"
 
 namespace ros
 {