diff --git a/aubo_controller/CMakeLists.txt b/aubo_controller/CMakeLists.txt
index c68126a..254373d 100644
--- a/aubo_controller/CMakeLists.txt
+++ b/aubo_controller/CMakeLists.txt
@@ -1,14 +1,27 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(aubo_controller)
 
-find_package(catkin REQUIRED COMPONENTS aubo_msgs  moveit_core moveit_ros_planning moveit_ros_planning_interface pluginlib cmake_modules)
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+  sensor_msgs
+  control_msgs
+  trajectory_msgs
+  urdf
+  pluginlib
+  actionlib
+  actionlib_msgs
+  moveit_core
+  moveit_ros_planning
+  moveit_ros_planning_interface
+  industrial_utils
+  industrial_msgs
+  cmake_modules
+  aubo_msgs
+)
 
 find_package(Boost REQUIRED system filesystem date_time thread)
 
-find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs
-  control_msgs trajectory_msgs actionlib_msgs actionlib
-  urdf industrial_msgs industrial_utils)
-
 #find_package(Eigen REQUIRED)
 
 catkin_package(
@@ -17,18 +30,19 @@ catkin_package(
     std_msgs
     sensor_msgs
     control_msgs
-    actionlib
-    moveit_core
-    moveit_ros_planning_interface
-    interactive_markers
     trajectory_msgs
-    industrial_msgs
+    urdf
+    pluginlib
     actionlib
     actionlib_msgs
+    moveit_core
+    moveit_ros_planning_interface
     industrial_utils
-    urdf
-    INCLUDE_DIRS include
-    LIBRARIES ${PROJECT_NAME}_dummy
+    industrial_msgs
+    interactive_markers
+    aubo_msgs
+  INCLUDE_DIRS include
+  LIBRARIES ${PROJECT_NAME}_dummy
 )
 
 #CHECK_CXX_COMPILER_FLAG("-std=c++11" COMPILER_SUPPORTS_CXX11)
@@ -47,7 +61,10 @@ link_directories(${catkin_LIBRARY_DIRS} )
 
 ADD_EXECUTABLE(aubo_joint_trajectory_action src/joint_trajectory_action.cpp)
 TARGET_LINK_LIBRARIES(aubo_joint_trajectory_action industrial_robot_client ${catkin_LIBRARIES})
-install(TARGETS aubo_joint_trajectory_action DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+install(
+  TARGETS aubo_joint_trajectory_action
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 #set(${PROJECT_NAME}_SOURCES1
 #    src/aubo_robot_simulator.cpp
@@ -56,5 +73,7 @@ install(TARGETS aubo_joint_trajectory_action DESTINATION ${CATKIN_PACKAGE_BIN_DE
 #TARGET_LINK_LIBRARIES(aubo_simulator_controller industrial_robot_client ${catkin_LIBRARIES})
 #install(TARGETS aubo_simulator_controller DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
-catkin_install_python(PROGRAMS script/aubo_controller/aubo_robot_simulator
-   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+catkin_install_python(
+  PROGRAMS script/aubo_controller/aubo_robot_simulator
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
diff --git a/aubo_controller/package.xml b/aubo_controller/package.xml
index cfe03b1..7b3d980 100644
--- a/aubo_controller/package.xml
+++ b/aubo_controller/package.xml
@@ -10,43 +10,44 @@
   <url type="website">http://wiki.ros.org/aubo_trajectory</url>
 
   <buildtool_depend>catkin</buildtool_depend>
+
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>control_msgs</build_depend>
   <build_depend>trajectory_msgs</build_depend>
-  <build_depend>simple_message</build_depend>
-  <build_depend>actionlib_msgs</build_depend>
   <build_depend>urdf</build_depend>
-  <build_depend>industrial_msgs</build_depend>
-  <build_depend>industrial_utils</build_depend>
-
-  <build_depend>actionlib</build_depend>
   <build_depend>pluginlib</build_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
   <build_depend>moveit_core</build_depend>
   <build_depend>moveit_ros_planning_interface</build_depend>
   <build_depend>moveit_ros_perception</build_depend>
+  <build_depend>simple_message</build_depend>
+  <build_depend>industrial_utils</build_depend>
+  <build_depend>industrial_msgs</build_depend>
   <build_depend>interactive_markers</build_depend>
-  <build_depend>cmake_modules</build_depend>
+  <build_depend>aubo_msgs</build_depend>
   <build_depend>geometric_shapes</build_depend>
+  <build_depend>cmake_modules</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>control_msgs</run_depend>
   <run_depend>trajectory_msgs</run_depend>
-  <run_depend>simple_message</run_depend>
-  <run_depend>actionlib_msgs</run_depend>
-  <run_depend>actionlib</run_depend>
   <run_depend>urdf</run_depend>
-  <run_depend>industrial_msgs</run_depend>
-  <run_depend>industrial_utils</run_depend>
-
   <run_depend>pluginlib</run_depend>
+  <run_depend>actionlib</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
   <run_depend>moveit_core</run_depend>
   <run_depend>moveit_fake_controller_manager</run_depend>
   <run_depend>moveit_ros_planning_interface</run_depend>
   <run_depend>moveit_ros_perception</run_depend>
+  <run_depend>simple_message</run_depend>
+  <run_depend>industrial_utils</run_depend>
+  <run_depend>industrial_msgs</run_depend>
   <run_depend>interactive_markers</run_depend>
+  <run_depend>aubo_msgs</run_depend>
 
 </package>
diff --git a/aubo_kinematics/CMakeLists.txt b/aubo_kinematics/CMakeLists.txt
index d8176ce..338209d 100644
--- a/aubo_kinematics/CMakeLists.txt
+++ b/aubo_kinematics/CMakeLists.txt
@@ -15,10 +15,21 @@ find_package(Boost REQUIRED COMPONENTS system)
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES aubo_i3_kinematic aubo_i5_kinematic aubo_i10_kinematic aubo_i3_moveit_kinematic_plugin aubo_i5_moveit_kinematic_plugin aubo_i10_moveit_kinematic_plugin
-  CATKIN_DEPENDS roscpp geometry_msgs moveit_core moveit_ros_planning
-                 pluginlib tf_conversions
-  DEPENDS boost
+  LIBRARIES
+    aubo_i3_kinematic
+    aubo_i3_moveit_kinematic_plugin
+    aubo_i5_kinematic
+    aubo_i5_moveit_kinematic_plugin
+    aubo_i10_kinematic
+    aubo_i10_moveit_kinematic_plugin
+  CATKIN_DEPENDS
+    roscpp
+    geometry_msgs
+    pluginlib
+    moveit_core
+    moveit_ros_planning
+    tf_conversions
+  DEPENDS Boost
 )
 
 
@@ -103,4 +114,3 @@ install(DIRECTORY include/${PROJECT_NAME}/
 install(FILES aubo_moveit_plugins.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
-
diff --git a/aubo_planner/CMakeLists.txt b/aubo_planner/CMakeLists.txt
index 3b56340..743e173 100644
--- a/aubo_planner/CMakeLists.txt
+++ b/aubo_planner/CMakeLists.txt
@@ -1,13 +1,27 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(aubo_planner)
 
-find_package(catkin REQUIRED COMPONENTS aubo_msgs  moveit_core moveit_ros_planning moveit_ros_planning_interface pluginlib cmake_modules)
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+  sensor_msgs
+  control_msgs
+  urdf
+  pluginlib
+  actionlib
+  actionlib_msgs
+  moveit_core
+  moveit_ros_planning
+  moveit_ros_planning_interface
+  trajectory_msgs
+  industrial_utils
+  industrial_msgs
+  cmake_modules
+  aubo_msgs
+)
 
 find_package(Boost REQUIRED system filesystem date_time thread)
 
-find_package(catkin REQUIRED COMPONENTS roscpp std_msgs sensor_msgs
-  control_msgs trajectory_msgs actionlib_msgs actionlib
-  urdf industrial_msgs industrial_utils)
 
 if("$ENV{ROS_DISTRO}" STREQUAL "kinetic")
     find_package(Eigen3 REQUIRED)
@@ -25,17 +39,18 @@ catkin_package(
     std_msgs
     sensor_msgs
     control_msgs
+    urdf
+    pluginlib
     actionlib
+    actionlib_msgs
     moveit_core
     moveit_ros_planning_interface
-    interactive_markers
     trajectory_msgs
-    industrial_msgs
-    actionlib
-    actionlib_msgs
+    interactive_markers
     industrial_utils
-    urdf
-    LIBRARIES ${PROJECT_NAME}_dummy
+    industrial_msgs
+    aubo_msgs
+  LIBRARIES ${PROJECT_NAME}_dummy
 )
 
 # check c++11 / c++0x
@@ -65,7 +80,7 @@ if("$ENV{ROS_DISTRO}" STREQUAL "indigo")
     Message(STATUS "<<<<<<<<<<<<<<<<<<<<<<<<<Note: Find EIGEN_INCLUDE_DIRS Package in aubo_planner for  for indigo")
 endif()
 
-link_directories(${catkin_LIBRARY_DIRS} )
+link_directories(${catkin_LIBRARY_DIRS})
 
 ADD_EXECUTABLE(aubo_planner_test src/aubo_planner_test.cpp)
 TARGET_LINK_LIBRARIES(aubo_planner_test ${catkin_LIBRARIES} ${Boost_LIBRARIES})
diff --git a/aubo_planner/package.xml b/aubo_planner/package.xml
index 7f7288e..d7eb425 100644
--- a/aubo_planner/package.xml
+++ b/aubo_planner/package.xml
@@ -10,25 +10,27 @@
   <url type="website">http://wiki.ros.org/aubo_trajectory</url>
 
   <buildtool_depend>catkin</buildtool_depend>
+
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>control_msgs</build_depend>
   <build_depend>trajectory_msgs</build_depend>
   <build_depend>simple_message</build_depend>
-  <build_depend>actionlib_msgs</build_depend>
   <build_depend>urdf</build_depend>
   <build_depend>industrial_msgs</build_depend>
   <build_depend>industrial_utils</build_depend>
 
-  <build_depend>actionlib</build_depend>
   <build_depend>pluginlib</build_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
   <build_depend>moveit_core</build_depend>
   <build_depend>moveit_ros_planning_interface</build_depend>
   <build_depend>moveit_ros_perception</build_depend>
   <build_depend>interactive_markers</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>geometric_shapes</build_depend>
+  <build_depend>aubo_msgs</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>std_msgs</run_depend>
@@ -36,17 +38,18 @@
   <run_depend>control_msgs</run_depend>
   <run_depend>trajectory_msgs</run_depend>
   <run_depend>simple_message</run_depend>
-  <run_depend>actionlib_msgs</run_depend>
-  <run_depend>actionlib</run_depend>
   <run_depend>urdf</run_depend>
   <run_depend>industrial_msgs</run_depend>
   <run_depend>industrial_utils</run_depend>
 
   <run_depend>pluginlib</run_depend>
+  <run_depend>actionlib</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
   <run_depend>moveit_core</run_depend>
-  <run_depend>moveit_fake_controller_manager</run_depend>
   <run_depend>moveit_ros_planning_interface</run_depend>
   <run_depend>moveit_ros_perception</run_depend>
+  <run_depend>moveit_fake_controller_manager</run_depend>
   <run_depend>interactive_markers</run_depend>
+  <run_depend>aubo_msgs</run_depend>
 
 </package>