diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7056f0c..db9a22c 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,20 +1,24 @@
-cmake_minimum_required(VERSION 3.2.0)
+cmake_minimum_required(VERSION 3.5)
 project(mrs_gazebo_common_resources)
 
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++17 -Wall")
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
+set(CATKIN_DEPENDENCIES
+  gazebo_plugins
   gazebo_ros
+  geometry_msgs
   roscpp
+  std_msgs
   tf2
-  tf2_ros
   tf2_msgs
-  geometry_msgs
-  std_msgs
-  gazebo_plugins
+  tf2_ros
+  )
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  ${CATKIN_DEPENDENCIES}
 )
 
 # include Gazebo
@@ -72,12 +76,31 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 ## catkin specific configuration ##
 ###################################
 
+set(LIBRARIES
+  MrsGazeboCommonResources_GuiManager
+  MrsGazeboCommonResources_RvizCameraSynchronizer
+  MrsGazeboCommonResources_StaticTransformRepublisher
+  MrsGazeboCommonResources_RangefinderPlugin
+  MrsGazeboCommonResources_2DLidarPlugin
+  MrsGazeboCommonResources_3DLidarPlugin
+  MrsGazeboCommonResources_3DLidarGpuPlugin
+  MrsGazeboCommonResources_CameraPlugin
+  MrsGazeboCommonResources_RealsensePlugin
+  MrsGazeboCommonResources_ParachutePlugin
+  MrsGazeboCommonResources_WaterGunPlugin
+  MrsGazeboCommonResources_GPSPlugin
+  MrsGazeboCommonResources_MagnetometerPlugin
+  MrsGazeboCommonResources_LightPlugin
+  MrsGazeboCommonResources_ServoCameraPlugin
+  MrsGazeboCommonResources_DynamicModelPlugin
+  )
+
 catkin_package(
    INCLUDE_DIRS include
-   CATKIN_DEPENDS geometry_msgs std_msgs tf2_msgs gazebo_plugins
+   CATKIN_DEPENDS ${CATKIN_DEPENDENCIES}
    DEPENDS GAZEBO Qt5Widgets Boost Eigen OpenCV
-   LIBRARIES MRSGazeboGuiManager MRSGazeboRvizCameraSynchronizer MRSGazeboStaticTransformRepublisher MRSGazeboRangefinderPlugin MRSGazebo2DLidarPlugin MRSGazebo3DLidarPlugin MRSGazebo3DLidarGpuPlugin MRSGazeboCameraPlugin MRSGazeboRealsensePlugin MRSGazeboParachutePlugin MRSGazeboWaterGunPlugin MRSGazeboGPSPlugin MRSGazeboMagnetometerPlugin MRSGazeboLightPlugin MRSGazeboServoCameraPlugin MRSGazeboDynamicModelPlugin
-)
+   LIBRARIES ${LIBRARIES}
+   )
 
 ###########
 ## Build ##
@@ -100,128 +123,203 @@ include_directories(
 link_directories(${GAZEBO_LIBRARY_DIRS})
 
 ##  GUI plugins
-add_library(MRSGazeboGuiManager SHARED src/gui_plugins/gui_manager.cpp)
-target_link_libraries(MRSGazeboGuiManager
+
+add_library(MrsGazeboCommonResources_GuiManager SHARED
+  src/gui_plugins/gui_manager.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_GuiManager
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Qt5Widgets_LIBRARIES}
   )
 
 ##  world plugins
-add_library(MRSGazeboRvizCameraSynchronizer SHARED src/world_plugins/rviz_cam_synchronizer.cpp)
-target_link_libraries(MRSGazeboRvizCameraSynchronizer
+
+add_library(MrsGazeboCommonResources_RvizCameraSynchronizer SHARED
+  src/world_plugins/rviz_cam_synchronizer.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_RvizCameraSynchronizer
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   )
 
-add_library(MRSGazeboStaticTransformRepublisher SHARED src/world_plugins/static_transform_republisher.cpp)
-target_link_libraries(MRSGazeboStaticTransformRepublisher
+add_library(MrsGazeboCommonResources_StaticTransformRepublisher SHARED
+  src/world_plugins/static_transform_republisher.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_StaticTransformRepublisher
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   )
 
 ##  sensor and model plugins
-add_library(MRSGazeboRangefinderPlugin SHARED src/sensor_and_model_plugins/rangefinder_plugin.cpp)
-target_link_libraries(MRSGazeboRangefinderPlugin
+
+add_library(MrsGazeboCommonResources_RangefinderPlugin SHARED
+  src/sensor_and_model_plugins/rangefinder_plugin.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_RangefinderPlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   RayPlugin
   )
 
-add_library(MRSGazebo2DLidarPlugin SHARED src/sensor_and_model_plugins/2dlidar_plugin.cpp)
-target_link_libraries(MRSGazebo2DLidarPlugin
+add_library(MrsGazeboCommonResources_2DLidarPlugin SHARED
+  src/sensor_and_model_plugins/2dlidar_plugin.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_2DLidarPlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   RayPlugin
   )
 
-add_library(MRSGazebo3DLidarPlugin SHARED src/sensor_and_model_plugins/3dlidar_plugin.cpp)
-target_link_libraries(MRSGazebo3DLidarPlugin
+add_library(MrsGazeboCommonResources_3DLidarPlugin SHARED
+  src/sensor_and_model_plugins/3dlidar_plugin.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_3DLidarPlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   RayPlugin
   )
 
-add_library(MRSGazebo3DLidarGpuPlugin SHARED src/sensor_and_model_plugins/3dlidar_plugin.cpp)
-target_link_libraries(MRSGazebo3DLidarGpuPlugin
+add_library(MrsGazeboCommonResources_3DLidarGpuPlugin SHARED
+  src/sensor_and_model_plugins/3dlidar_plugin.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_3DLidarGpuPlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   GpuRayPlugin
   )
-target_compile_definitions(MRSGazebo3DLidarGpuPlugin PRIVATE GAZEBO_GPU_RAY=1)
 
-add_library(MRSGazeboCameraPlugin SHARED src/sensor_and_model_plugins/camera_plugin.cpp)
-target_link_libraries(MRSGazeboCameraPlugin
+target_compile_definitions(MrsGazeboCommonResources_3DLidarGpuPlugin PRIVATE GAZEBO_GPU_RAY=1)
+
+add_library(MrsGazeboCommonResources_CameraPlugin SHARED
+  src/sensor_and_model_plugins/camera_plugin.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_CameraPlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   CameraPlugin
   )
 
-add_library(MRSGazeboRealsensePlugin SHARED src/sensor_and_model_plugins/realsense_plugin.cpp src/common/perlin_noise.cpp)
-target_link_libraries(MRSGazeboRealsensePlugin
+# RealsensePlugin
+
+add_library(MrsGazeboCommonResources_RealsensePlugin SHARED
+  src/sensor_and_model_plugins/realsense_plugin.cpp
+  src/common/perlin_noise.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_RealsensePlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   ${OpenCV_LIBRARIES}
   )
 
-add_library(MRSGazeboParachutePlugin SHARED src/sensor_and_model_plugins/parachute_plugin.cpp)
-target_link_libraries(MRSGazeboParachutePlugin
+# ParachutePlugin
+
+add_library(MrsGazeboCommonResources_ParachutePlugin SHARED
+  src/sensor_and_model_plugins/parachute_plugin.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_ParachutePlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   )
 
-add_library(MRSGazeboWaterGunPlugin SHARED src/sensor_and_model_plugins/water_gun_plugin.cpp)
-target_link_libraries(MRSGazeboWaterGunPlugin
+# WaterGunPlugin
+
+add_library(MrsGazeboCommonResources_WaterGunPlugin SHARED
+  src/sensor_and_model_plugins/water_gun_plugin.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_WaterGunPlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   )
 
-add_library(MRSGazeboGPSPlugin SHARED src/sensor_and_model_plugins/gps_plugin.cpp ${SEN_PROTO_SRCS})
-target_link_libraries(MRSGazeboGPSPlugin
+# GPSPlugin
+
+add_library(MrsGazeboCommonResources_GPSPlugin SHARED
+  src/sensor_and_model_plugins/gps_plugin.cpp
+  ${SEN_PROTO_SRCS}
+  )
+
+target_link_libraries(MrsGazeboCommonResources_GPSPlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   )
 
-add_library(MRSGazeboMagnetometerPlugin SHARED src/sensor_and_model_plugins/magnetometer_plugin.cpp src/common/geo_mag_declination.cpp ${SEN_PROTO_SRCS})
-target_link_libraries(MRSGazeboMagnetometerPlugin
+# MagnetometerPlugin
+
+add_library(MrsGazeboCommonResources_MagnetometerPlugin SHARED
+  src/sensor_and_model_plugins/magnetometer_plugin.cpp
+  src/common/geo_mag_declination.cpp ${SEN_PROTO_SRCS}
+  )
+
+target_link_libraries(MrsGazeboCommonResources_MagnetometerPlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   )
 
-##  model plugins
-add_library(MRSGazeboLightPlugin SHARED src/sensor_and_model_plugins/light_plugin.cpp)
-target_link_libraries(MRSGazeboLightPlugin
+# LightPlugin
+
+add_library(MrsGazeboCommonResources_LightPlugin SHARED
+  src/sensor_and_model_plugins/light_plugin.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_LightPlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   )
 
-add_library(MRSGazeboServoCameraPlugin SHARED src/sensor_and_model_plugins/servo_camera_plugin.cpp)
-target_link_libraries(MRSGazeboServoCameraPlugin
+# ServoCameraPlugin
+
+add_library(MrsGazeboCommonResources_ServoCameraPlugin SHARED
+  src/sensor_and_model_plugins/servo_camera_plugin.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_ServoCameraPlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   )
 
-add_library(MRSGazeboDynamicModelPlugin SHARED src/sensor_and_model_plugins/dynamic_model_plugin.cpp)
-target_link_libraries(MRSGazeboDynamicModelPlugin
+# DynamicModelPlugin
+
+add_library(MrsGazeboCommonResources_DynamicModelPlugin SHARED
+  src/sensor_and_model_plugins/dynamic_model_plugin.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_DynamicModelPlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
   )
 
-add_library(MRSSafetyLedPlugin SHARED src/sensor_and_model_plugins/safety_led_plugin.cpp)
-target_link_libraries(MRSSafetyLedPlugin
+# SafetyLedPlugin
+
+add_library(MrsGazeboCommonResources_SafetyLedPlugin SHARED
+  src/sensor_and_model_plugins/safety_led_plugin.cpp
+  )
+
+target_link_libraries(MrsGazeboCommonResources_SafetyLedPlugin
   ${GAZEBO_LIBRARIES}
   ${catkin_LIBRARIES}
   ${Boost_LIBRARIES}
@@ -231,7 +329,7 @@ target_link_libraries(MRSSafetyLedPlugin
 ## |                           Install                          |
 ## --------------------------------------------------------------
 
-install(TARGETS MRSGazeboGuiManager MRSGazeboRvizCameraSynchronizer MRSGazeboStaticTransformRepublisher MRSGazeboRangefinderPlugin MRSGazebo2DLidarPlugin MRSGazebo3DLidarPlugin MRSGazebo3DLidarGpuPlugin MRSGazeboCameraPlugin MRSGazeboRealsensePlugin MRSGazeboParachutePlugin MRSGazeboWaterGunPlugin MRSGazeboGPSPlugin MRSGazeboMagnetometerPlugin MRSGazeboLightPlugin MRSGazeboServoCameraPlugin MRSGazeboDynamicModelPlugin
+install(TARGETS ${LIBRARIES}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
diff --git a/package.xml b/package.xml
index 48e264e..95128dc 100644
--- a/package.xml
+++ b/package.xml
@@ -6,21 +6,24 @@
 
   <author email="vojtech.spurny@fel.cvut.cz">Vojtech Spurny</author>
   <maintainer email="vojtech.spurny@fel.cvut.cz">Vojtech Spurny</maintainer>
+  <maintainer email="tomas.baca@fel.cvut.cz">Tomas Baca</maintainer>
 
   <license>BSD 3-Clause</license>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_export_depend>boost</build_export_depend>
+
+  <depend>gazebo_plugins</depend>
+  <depend>gazebo_ros</depend>
   <depend>geometry_msgs</depend>
+  <depend>roscpp</depend>
+  <depend>std_msgs</depend>
   <depend>tf2</depend>
-  <depend>tf2_ros</depend>
   <depend>tf2_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>libqt5-widgets</depend>
+  <depend>tf2_ros</depend>
+
   <depend>gazebo</depend>
-  <depend>gazebo_ros</depend>
-  <depend>gazebo_plugins</depend>
+  <depend>boost</depend>
+  <depend>libqt5-widgets</depend>
 
   <export>
     <!-- gazebo_ros_paths_plugin automatically adds these to