diff --git a/include/costmap_2d/costmap_2d_robot.h b/include/costmap_2d/costmap_2d_robot.h
index 8c335fa..8e79a66 100755
--- a/include/costmap_2d/costmap_2d_robot.h
+++ b/include/costmap_2d/costmap_2d_robot.h
@@ -55,18 +55,18 @@
 
 #include <robot/node_handle.h>
 #include <robot/plugin_loader_helper.h>
-class SuperValue : public XmlRpc::XmlRpcValue
+class SuperValue : public robot::XmlRpc::XmlRpcValue
 {
 public:
-  void setStruct(XmlRpc::XmlRpcValue::ValueStruct* a)
+  void setStruct(robot::XmlRpc::XmlRpcValue::ValueStruct* a)
   {
     _type = TypeStruct;
-    _value.asStruct = new XmlRpc::XmlRpcValue::ValueStruct(*a);
+    _value.asStruct = new robot::XmlRpc::XmlRpcValue::ValueStruct(*a);
   }
-  void setArray(XmlRpc::XmlRpcValue::ValueArray* a)
+  void setArray(robot::XmlRpc::XmlRpcValue::ValueArray* a)
   {
     _type = TypeArray;
-    _value.asArray = new std::vector<XmlRpc::XmlRpcValue>(*a);
+    _value.asArray = new std::vector<robot::XmlRpc::XmlRpcValue>(*a);
   }
 };
 
diff --git a/include/costmap_2d/footprint.h b/include/costmap_2d/footprint.h
index 5c7a4df..0ae3c74 100755
--- a/include/costmap_2d/footprint.h
+++ b/include/costmap_2d/footprint.h
@@ -136,7 +136,7 @@ std::vector<geometry_msgs::Point> makeFootprintFromParams(robot::NodeHandle& nh)
  * @param full_param_name this is the full name of the rosparam from
  * which the footprint_xmlrpc value came.  It is used only for
  * reporting errors. */
-std::vector<geometry_msgs::Point> makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc,
+std::vector<geometry_msgs::Point> makeFootprintFromXMLRPC(robot::XmlRpc::XmlRpcValue& footprint_xmlrpc,
                                 const std::string& full_param_name);
 
 // /** @brief Write the current unpadded_footprint_ to the "footprint"
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..fa20a03
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,26 @@
+<package>
+  <name>costmap_2d</name>
+  <version>0.7.10</version>
+  <description>
+    tf3 is the second generation of the transform library, which lets
+    the user keep track of multiple coordinate frames over time. tf3
+    maintains the relationship between coordinate frames in a tree
+    structure buffered in time, and lets the user transform points,
+    vectors, etc between any two coordinate frames at any desired
+    point in time.
+  </description>
+  <author>Tully Foote</author>
+  <author>Eitan Marder-Eppstein</author>
+  <author>Wim Meeussen</author>
+  <maintainer email="tfoote@osrfoundation.org">Tully Foote</maintainer>
+  <license>BSD</license>
+
+  <url type="website">http://www.ros.org/wiki/tf3</url>
+    
+  <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
+
+  <build_depend>libconsole-bridge-dev</build_depend>
+
+  <run_depend>libconsole-bridge-dev</run_depend>
+
+</package>
\ No newline at end of file
diff --git a/src/footprint.cpp b/src/footprint.cpp
index b77b3e0..81a4a9b 100755
--- a/src/footprint.cpp
+++ b/src/footprint.cpp
@@ -249,25 +249,25 @@ std::vector<geometry_msgs::Point> makeFootprintFromParams(robot::NodeHandle& nh)
 //   nh.setParam("footprint", oss.str().c_str());
 // }
 
-double getNumberFromXMLRPC(XmlRpc::XmlRpcValue& value, const std::string& full_param_name)
+double getNumberFromXMLRPC(robot::XmlRpc::XmlRpcValue& value, const std::string& full_param_name)
 {
   // Make sure that the value we're looking at is either a double or an int.
-  if (value.getType() != XmlRpc::XmlRpcValue::TypeInt &&
-      value.getType() != XmlRpc::XmlRpcValue::TypeDouble)
+  if (value.getType() != robot::XmlRpc::XmlRpcValue::TypeInt &&
+      value.getType() != robot::XmlRpc::XmlRpcValue::TypeDouble)
   {
     std::string& value_string = value;
     printf("Values in the footprint specification (param %s) must be numbers. Found value %s.\n",
                full_param_name.c_str(), value_string.c_str());
     throw std::runtime_error("Values in the footprint specification must be numbers");
   }
-  return value.getType() == XmlRpc::XmlRpcValue::TypeInt ? (int)(value) : (double)(value);
+  return value.getType() == robot::XmlRpc::XmlRpcValue::TypeInt ? (int)(value) : (double)(value);
 }
 
-std::vector<geometry_msgs::Point> makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& footprint_xmlrpc,
+std::vector<geometry_msgs::Point> makeFootprintFromXMLRPC(robot::XmlRpc::XmlRpcValue& footprint_xmlrpc,
                                 const std::string& full_param_name)
 {
   // Make sure we have an array of at least 3 elements.
-  if (footprint_xmlrpc.getType() != XmlRpc::XmlRpcValue::TypeArray ||
+  if (footprint_xmlrpc.getType() != robot::XmlRpc::XmlRpcValue::TypeArray ||
       footprint_xmlrpc.size() < 3)
   {
     printf("The footprint must be specified as list of lists on the parameter server, %s was specified as %s\n",
@@ -282,8 +282,8 @@ std::vector<geometry_msgs::Point> makeFootprintFromXMLRPC(XmlRpc::XmlRpcValue& f
   for (int i = 0; i < footprint_xmlrpc.size(); ++i)
   {
     // Make sure each element of the list is an array of size 2. (x and y coordinates)
-    XmlRpc::XmlRpcValue point = footprint_xmlrpc[ i ];
-    if (point.getType() != XmlRpc::XmlRpcValue::TypeArray ||
+    robot::XmlRpc::XmlRpcValue point = footprint_xmlrpc[ i ];
+    if (point.getType() != robot::XmlRpc::XmlRpcValue::TypeArray ||
         point.size() != 2)
     {
       printf("The footprint (parameter %s) must be specified as list of lists on the parameter server eg: "