diff --git a/ball_detector/CHANGELOG.rst b/op3_ball_detector/CHANGELOG.rst
similarity index 100%
rename from ball_detector/CHANGELOG.rst
rename to op3_ball_detector/CHANGELOG.rst
diff --git a/ball_detector/CMakeLists.txt b/op3_ball_detector/CMakeLists.txt
similarity index 99%
rename from ball_detector/CMakeLists.txt
rename to op3_ball_detector/CMakeLists.txt
index d2acc5e..d57df9d 100644
--- a/ball_detector/CMakeLists.txt
+++ b/op3_ball_detector/CMakeLists.txt
@@ -2,7 +2,7 @@
 # Set minimum required version of cmake, project name and compile options
 ################################################################################
 cmake_minimum_required(VERSION 2.8.3)
-project(ball_detector)
+project(op3_ball_detector)
 
 ################################################################################
 # Find catkin packages and libraries for catkin and system dependencies
diff --git a/ball_detector/cfg/DetectorParams.cfg b/op3_ball_detector/cfg/DetectorParams.cfg
old mode 100755
new mode 100644
similarity index 98%
rename from ball_detector/cfg/DetectorParams.cfg
rename to op3_ball_detector/cfg/DetectorParams.cfg
index 1d3e29c..e627907
--- a/ball_detector/cfg/DetectorParams.cfg
+++ b/op3_ball_detector/cfg/DetectorParams.cfg
@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE='ball_detector'
+PACKAGE='op3_ball_detector'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 
diff --git a/ball_detector/cfg/DetectorParamsBlue.cfg b/op3_ball_detector/cfg/DetectorParamsBlue.cfg
similarity index 98%
rename from ball_detector/cfg/DetectorParamsBlue.cfg
rename to op3_ball_detector/cfg/DetectorParamsBlue.cfg
index b9bd967..391e99f 100644
--- a/ball_detector/cfg/DetectorParamsBlue.cfg
+++ b/op3_ball_detector/cfg/DetectorParamsBlue.cfg
@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE='ball_detector'
+PACKAGE='op3_ball_detector'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 
diff --git a/ball_detector/cfg/DetectorParamsRed.cfg b/op3_ball_detector/cfg/DetectorParamsRed.cfg
similarity index 98%
rename from ball_detector/cfg/DetectorParamsRed.cfg
rename to op3_ball_detector/cfg/DetectorParamsRed.cfg
index 79d08a2..6d8dbad 100644
--- a/ball_detector/cfg/DetectorParamsRed.cfg
+++ b/op3_ball_detector/cfg/DetectorParamsRed.cfg
@@ -1,5 +1,5 @@
 #!/usr/bin/env python
-PACKAGE='ball_detector'
+PACKAGE='op3_ball_detector'
 
 from dynamic_reconfigure.parameter_generator_catkin import *
 
diff --git a/ball_detector/config/ball_detector_params.yaml b/op3_ball_detector/config/ball_detector_params.yaml
similarity index 100%
rename from ball_detector/config/ball_detector_params.yaml
rename to op3_ball_detector/config/ball_detector_params.yaml
diff --git a/ball_detector/config/ball_detector_params_default.yaml b/op3_ball_detector/config/ball_detector_params_default.yaml
similarity index 100%
rename from ball_detector/config/ball_detector_params_default.yaml
rename to op3_ball_detector/config/ball_detector_params_default.yaml
diff --git a/ball_detector/config/ball_detector_params_op.yaml b/op3_ball_detector/config/ball_detector_params_op.yaml
similarity index 100%
rename from ball_detector/config/ball_detector_params_op.yaml
rename to op3_ball_detector/config/ball_detector_params_op.yaml
diff --git a/ball_detector/include/ball_detector/ball_detector.h b/op3_ball_detector/include/op3_ball_detector/ball_detector.h
similarity index 83%
rename from ball_detector/include/ball_detector/ball_detector.h
rename to op3_ball_detector/include/op3_ball_detector/ball_detector.h
index 96a9981..c429222 100644
--- a/ball_detector/include/ball_detector/ball_detector.h
+++ b/op3_ball_detector/include/op3_ball_detector/ball_detector.h
@@ -36,13 +36,12 @@
 #include <boost/thread.hpp>
 #include <yaml-cpp/yaml.h>
 
-#include "ball_detector/DetectorParamsConfig.h"
+#include "op3_ball_detector/ball_detector_config.h"
 
-#include "ball_detector/ball_detector_config.h"
-
-#include "ball_detector/CircleSetStamped.h"
-#include "ball_detector/GetParameters.h"
-#include "ball_detector/SetParameters.h"
+#include "op3_ball_detector/DetectorParamsConfig.h"
+#include "op3_ball_detector/CircleSetStamped.h"
+#include "op3_ball_detector/GetParameters.h"
+#include "op3_ball_detector/SetParameters.h"
 
 namespace robotis_op
 {
@@ -74,12 +73,12 @@ class BallDetector
   //callbacks to camera info subscription
   void cameraInfoCallback(const sensor_msgs::CameraInfo & msg);
 
-  void dynParamCallback(ball_detector::DetectorParamsConfig &config, uint32_t level);
+  void dynParamCallback(op3_ball_detector::DetectorParamsConfig &config, uint32_t level);
   void enableCallback(const std_msgs::Bool::ConstPtr &msg);
 
   void paramCommandCallback(const std_msgs::String::ConstPtr &msg);
-  bool setParamCallback(ball_detector::SetParameters::Request &req, ball_detector::SetParameters::Response &res);
-  bool getParamCallback(ball_detector::GetParameters::Request &req, ball_detector::GetParameters::Response &res);
+  bool setParamCallback(op3_ball_detector::SetParameters::Request &req, op3_ball_detector::SetParameters::Response &res);
+  bool getParamCallback(op3_ball_detector::GetParameters::Request &req, op3_ball_detector::GetParameters::Response &res);
   void resetParameter();
   void publishParam();
 
@@ -115,7 +114,7 @@ class BallDetector
   int not_found_count_;
 
   //circle set publisher
-  ball_detector::CircleSetStamped circles_msg_;
+  op3_ball_detector::CircleSetStamped circles_msg_;
   ros::Publisher circles_pub_;
 
   //camera info subscriber
@@ -157,8 +156,8 @@ class BallDetector
   cv::Mat in_image_;
   cv::Mat out_image_;
 
-  dynamic_reconfigure::Server<ball_detector::DetectorParamsConfig> param_server_;
-  dynamic_reconfigure::Server<ball_detector::DetectorParamsConfig>::CallbackType callback_fnc_;
+  dynamic_reconfigure::Server<op3_ball_detector::DetectorParamsConfig> param_server_;
+  dynamic_reconfigure::Server<op3_ball_detector::DetectorParamsConfig>::CallbackType callback_fnc_;
 };
 
 }       // namespace robotis_op
diff --git a/ball_detector/include/ball_detector/ball_detector_config.h b/op3_ball_detector/include/op3_ball_detector/ball_detector_config.h
similarity index 100%
rename from ball_detector/include/ball_detector/ball_detector_config.h
rename to op3_ball_detector/include/op3_ball_detector/ball_detector_config.h
diff --git a/ball_detector/launch/ball_detector.launch b/op3_ball_detector/launch/ball_detector.launch
similarity index 64%
rename from ball_detector/launch/ball_detector.launch
rename to op3_ball_detector/launch/ball_detector.launch
index 34a12ba..35f57d9 100644
--- a/ball_detector/launch/ball_detector.launch
+++ b/op3_ball_detector/launch/ball_detector.launch
@@ -1,9 +1,9 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="config_path" default="$(find ball_detector)/config/ball_detector_params.yaml"/>
+  <arg name="config_path" default="$(find op3_ball_detector)/config/ball_detector_params.yaml"/>
     
   <!-- ball detector -->
-  <node pkg="ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
+  <node pkg="op3_ball_detector" type="ball_detector_node" name="ball_detector_node" args="" output="screen">
     <rosparam command="load" file="$(arg config_path)"/>  
     <param name="yaml_path" type="string" value="$(arg config_path)"/>
     <remap from="/ball_detector_node/image_in" to="/usb_cam_node/image_raw" />
diff --git a/ball_detector/launch/ball_detector_from_usb_cam.launch b/op3_ball_detector/launch/ball_detector_from_usb_cam.launch
similarity index 94%
rename from ball_detector/launch/ball_detector_from_usb_cam.launch
rename to op3_ball_detector/launch/ball_detector_from_usb_cam.launch
index 44ecad5..7f3ae14 100644
--- a/ball_detector/launch/ball_detector_from_usb_cam.launch
+++ b/op3_ball_detector/launch/ball_detector_from_usb_cam.launch
@@ -23,5 +23,5 @@
   </node>
 
   <!-- ball detector -->
-  <include file="$(find ball_detector)/launch/ball_detector.launch" />
+  <include file="$(find op3_ball_detector)/launch/ball_detector.launch" />
 </launch>
diff --git a/ball_detector/launch/ball_detector_from_uvc.launch b/op3_ball_detector/launch/ball_detector_from_uvc.launch
similarity index 92%
rename from ball_detector/launch/ball_detector_from_uvc.launch
rename to op3_ball_detector/launch/ball_detector_from_uvc.launch
index 5946129..636caaa 100644
--- a/ball_detector/launch/ball_detector_from_uvc.launch
+++ b/op3_ball_detector/launch/ball_detector_from_uvc.launch
@@ -25,6 +25,6 @@
     <!-- <param name="white_balance_temperature" value="2800" /> -->       
     
   <!-- ball detector -->
-  <include file="$(find ball_detector)/launch/ball_detector.launch" />
+  <include file="$(find op3_ball_detector)/launch/ball_detector.launch" />
 </launch>
 
diff --git a/ball_detector/msg/BallDetectorParams.msg b/op3_ball_detector/msg/BallDetectorParams.msg
similarity index 100%
rename from ball_detector/msg/BallDetectorParams.msg
rename to op3_ball_detector/msg/BallDetectorParams.msg
diff --git a/ball_detector/msg/CircleSetStamped.msg b/op3_ball_detector/msg/CircleSetStamped.msg
similarity index 100%
rename from ball_detector/msg/CircleSetStamped.msg
rename to op3_ball_detector/msg/CircleSetStamped.msg
diff --git a/ball_detector/package.xml b/op3_ball_detector/package.xml
similarity index 97%
rename from ball_detector/package.xml
rename to op3_ball_detector/package.xml
index 2f2acf3..a65ef7f 100644
--- a/ball_detector/package.xml
+++ b/op3_ball_detector/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>ball_detector</name>
+  <name>op3_ball_detector</name>
   <version>0.1.0</version>
   <description>
     This package implements a circle-like shape detector of the input image.
diff --git a/ball_detector/rviz/ball_detector.rviz b/op3_ball_detector/rviz/ball_detector.rviz
similarity index 100%
rename from ball_detector/rviz/ball_detector.rviz
rename to op3_ball_detector/rviz/ball_detector.rviz
diff --git a/ball_detector/src/ball_detector.cpp b/op3_ball_detector/src/ball_detector.cpp
similarity index 97%
rename from ball_detector/src/ball_detector.cpp
rename to op3_ball_detector/src/ball_detector.cpp
index 7dbba3c..871a1e8 100644
--- a/ball_detector/src/ball_detector.cpp
+++ b/op3_ball_detector/src/ball_detector.cpp
@@ -18,7 +18,7 @@
 
 #include <fstream>
 
-#include "ball_detector/ball_detector.h"
+#include "op3_ball_detector/ball_detector.h"
 
 namespace robotis_op
 {
@@ -71,7 +71,7 @@ BallDetector::BallDetector()
 
   //sets publishers
   image_pub_ = it_.advertise("image_out", 100);
-  circles_pub_ = nh_.advertise<ball_detector::CircleSetStamped>("circle_set", 100);
+  circles_pub_ = nh_.advertise<op3_ball_detector::CircleSetStamped>("circle_set", 100);
   camera_info_pub_ = nh_.advertise<sensor_msgs::CameraInfo>("camera_info", 100);
 
   //sets subscribers
@@ -87,7 +87,7 @@ BallDetector::BallDetector()
   param_server_.setCallback(callback_fnc_);
 
   // web setting
-  param_pub_ = nh_.advertise<ball_detector::BallDetectorParams>("current_params", 1);
+  param_pub_ = nh_.advertise<op3_ball_detector::BallDetectorParams>("current_params", 1);
   param_command_sub_ = nh_.subscribe("param_command", 1, &BallDetector::paramCommandCallback, this);
   set_param_client_ = nh_.advertiseService("set_param", &BallDetector::setParamCallback, this);
   get_param_client_ = nh_.advertiseService("get_param", &BallDetector::getParamCallback, this);
@@ -233,7 +233,7 @@ void BallDetector::imageCallback(const sensor_msgs::ImageConstPtr & msg)
   return;
 }
 
-void BallDetector::dynParamCallback(ball_detector::DetectorParamsConfig &config, uint32_t level)
+void BallDetector::dynParamCallback(op3_ball_detector::DetectorParamsConfig &config, uint32_t level)
 {
   params_config_.gaussian_blur_size = config.gaussian_blur_size;
   params_config_.gaussian_blur_sigma = config.gaussian_blur_sigma;
@@ -296,7 +296,7 @@ void BallDetector::paramCommandCallback(const std_msgs::String::ConstPtr &msg)
   }
 }
 
-bool BallDetector::setParamCallback(ball_detector::SetParameters::Request &req, ball_detector::SetParameters::Response &res)
+bool BallDetector::setParamCallback(op3_ball_detector::SetParameters::Request &req, op3_ball_detector::SetParameters::Response &res)
 {
   params_config_.gaussian_blur_size = req.params.gaussian_blur_size;
   params_config_.gaussian_blur_sigma = req.params.gaussian_blur_sigma;
@@ -321,7 +321,7 @@ bool BallDetector::setParamCallback(ball_detector::SetParameters::Request &req,
   return true;
 }
 
-bool BallDetector:: getParamCallback(ball_detector::GetParameters::Request &req, ball_detector::GetParameters::Response &res)
+bool BallDetector:: getParamCallback(op3_ball_detector::GetParameters::Request &req, op3_ball_detector::GetParameters::Response &res)
 {
   res.returns.gaussian_blur_size = params_config_.gaussian_blur_size;
   res.returns.gaussian_blur_sigma = params_config_.gaussian_blur_sigma;
@@ -396,7 +396,7 @@ void BallDetector::resetParameter()
 
 void BallDetector::publishParam()
 {
-  ball_detector::BallDetectorParams params;
+  op3_ball_detector::BallDetectorParams params;
 
   params.gaussian_blur_size = params_config_.gaussian_blur_size;
   params.gaussian_blur_sigma = params_config_.gaussian_blur_sigma;
diff --git a/ball_detector/src/ball_detector_node.cpp b/op3_ball_detector/src/ball_detector_node.cpp
similarity index 96%
rename from ball_detector/src/ball_detector_node.cpp
rename to op3_ball_detector/src/ball_detector_node.cpp
index 5560d56..117127d 100644
--- a/ball_detector/src/ball_detector_node.cpp
+++ b/op3_ball_detector/src/ball_detector_node.cpp
@@ -16,7 +16,7 @@
 
 /* Author: Kayman Jung */
 
-#include "ball_detector/ball_detector.h"
+#include "op3_ball_detector/ball_detector.h"
 
 //node main
 int main(int argc, char **argv)
diff --git a/ball_detector/srv/GetParameters.srv b/op3_ball_detector/srv/GetParameters.srv
similarity index 100%
rename from ball_detector/srv/GetParameters.srv
rename to op3_ball_detector/srv/GetParameters.srv
diff --git a/ball_detector/srv/SetParameters.srv b/op3_ball_detector/srv/SetParameters.srv
similarity index 100%
rename from ball_detector/srv/SetParameters.srv
rename to op3_ball_detector/srv/SetParameters.srv
diff --git a/op3_demo/CMakeLists.txt b/op3_demo/CMakeLists.txt
index 42445a0..381f872 100644
--- a/op3_demo/CMakeLists.txt
+++ b/op3_demo/CMakeLists.txt
@@ -18,7 +18,7 @@ find_package(catkin REQUIRED COMPONENTS
   op3_action_module_msgs
   cmake_modules
   robotis_math
-  ball_detector
+  op3_ball_detector
 )
 
 find_package(Boost REQUIRED COMPONENTS thread)
@@ -71,7 +71,7 @@ catkin_package(
     op3_action_module_msgs
     cmake_modules
     robotis_math
-    ball_detector
+    op3_ball_detector
   DEPENDS Boost EIGEN3
 )
 
diff --git a/op3_demo/include/op3_demo/ball_follower.h b/op3_demo/include/op3_demo/ball_follower.h
index 7ec1d46..283d842 100644
--- a/op3_demo/include/op3_demo/ball_follower.h
+++ b/op3_demo/include/op3_demo/ball_follower.h
@@ -29,7 +29,7 @@
 #include <yaml-cpp/yaml.h>
 
 #include "robotis_controller_msgs/JointCtrlModule.h"
-#include "ball_detector/CircleSetStamped.h"
+#include "op3_ball_detector/CircleSetStamped.h"
 #include "op3_walking_module_msgs/WalkingParam.h"
 #include "op3_walking_module_msgs/GetWalkingParam.h"
 
diff --git a/op3_demo/include/op3_demo/ball_tracker.h b/op3_demo/include/op3_demo/ball_tracker.h
index 5461494..e5fe9ff 100644
--- a/op3_demo/include/op3_demo/ball_tracker.h
+++ b/op3_demo/include/op3_demo/ball_tracker.h
@@ -29,7 +29,7 @@
 #include <yaml-cpp/yaml.h>
 
 #include "robotis_controller_msgs/JointCtrlModule.h"
-#include "ball_detector/CircleSetStamped.h"
+#include "op3_ball_detector/CircleSetStamped.h"
 #include "op3_walking_module_msgs/WalkingParam.h"
 #include "op3_walking_module_msgs/GetWalkingParam.h"
 
@@ -79,7 +79,7 @@ protected:
   const int WAITING_THRESHOLD;
   const bool DEBUG_PRINT;
 
-  void ballPositionCallback(const ball_detector::CircleSetStamped::ConstPtr &msg);
+  void ballPositionCallback(const op3_ball_detector::CircleSetStamped::ConstPtr &msg);
   void ballTrackerCommandCallback(const std_msgs::String::ConstPtr &msg);
   void publishHeadJoint(double pan, double tilt);
   void scanBall();
diff --git a/op3_demo/launch/demo.launch b/op3_demo/launch/demo.launch
index 2b5281c..d6d26b4 100644
--- a/op3_demo/launch/demo.launch
+++ b/op3_demo/launch/demo.launch
@@ -4,7 +4,7 @@
     <include file="$(find op3_manager)/launch/op3_manager.launch"/>
 
     <!-- Camera and Ball detector -->
-    <include file="$(find ball_detector)/launch/ball_detector_from_usb_cam.launch"/> 
+    <include file="$(find op3_ball_detector)/launch/ball_detector_from_usb_cam.launch"/> 
    
     <!-- face tracking -->
     <include file="$(find op3_demo)/launch/face_detection_op3.launch" />
diff --git a/op3_demo/launch/self_test.launch b/op3_demo/launch/self_test.launch
index 623004e..00c9acb 100644
--- a/op3_demo/launch/self_test.launch
+++ b/op3_demo/launch/self_test.launch
@@ -5,7 +5,7 @@
   <include file="$(find op3_manager)/launch/op3_manager.launch"/> 
 
   <!-- Camera and Ball detector -->
-  <include file="$(find ball_detector)/launch/ball_detector_from_usb_cam.launch"/> 
+  <include file="$(find op3_ball_detector)/launch/ball_detector_from_usb_cam.launch"/> 
    
   <!-- face tracking -->
   <include file="$(find op3_demo)/launch/face_detection_op3.launch" />
diff --git a/op3_demo/package.xml b/op3_demo/package.xml
index 85bd36e..1a0785c 100644
--- a/op3_demo/package.xml
+++ b/op3_demo/package.xml
@@ -24,7 +24,7 @@
   <depend>op3_action_module_msgs</depend>
   <depend>cmake_modules</depend>
   <depend>robotis_math</depend>
-  <depend>ball_detector</depend>
+  <depend>op3_ball_detector</depend>
   <depend>boost</depend>
   <depend>eigen</depend>
   <depend>yaml-cpp</depend>
diff --git a/op3_demo/src/soccer/ball_tracker.cpp b/op3_demo/src/soccer/ball_tracker.cpp
index 355a21c..e90bb54 100644
--- a/op3_demo/src/soccer/ball_tracker.cpp
+++ b/op3_demo/src/soccer/ball_tracker.cpp
@@ -59,7 +59,7 @@ BallTracker::~BallTracker()
 
 }
 
-void BallTracker::ballPositionCallback(const ball_detector::CircleSetStamped::ConstPtr &msg)
+void BallTracker::ballPositionCallback(const op3_ball_detector::CircleSetStamped::ConstPtr &msg)
 {
   for (int idx = 0; idx < msg->circles.size(); idx++)
   {