diff --git a/humanoid_msgs/CMakeLists.txt b/humanoid_msgs/CMakeLists.txt
index 1117336..8b2d2bb 100644
--- a/humanoid_msgs/CMakeLists.txt
+++ b/humanoid_msgs/CMakeLists.txt
@@ -11,5 +11,3 @@ endif()
 if($ENV{ROS_VERSION} EQUAL 1)
   catkin_package()
 endif()
-
-catkin_metapackage()
diff --git a/humanoid_msgs/package.xml b/humanoid_msgs/package.xml
index 2618ce5..3969aef 100644
--- a/humanoid_msgs/package.xml
+++ b/humanoid_msgs/package.xml
@@ -2,17 +2,15 @@
 <package format="3">
   <name>humanoid_msgs</name>
   <version>0.3.2</version>
-  <description>
-    Messages and services for humanoid robots
-  </description>
-  <author>Armin Hornung</author>
+  <description>Messages and services for humanoid robots</description>
   <maintainer email="ronaldsonbellande@gmail.com">Ronaldson Bellande</maintainer>
   <license>Apache 2.0</license>
 
   <buildtool_depend condition="$ROS_VERSION == 1">catkin</buildtool_depend>
-  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
 
 
+  <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
+
   <export>
     <metapackage />
   </export>
diff --git a/humanoid_nav_msgs/package.xml b/humanoid_nav_msgs/package.xml
index e46b76e..c82779b 100644
--- a/humanoid_nav_msgs/package.xml
+++ b/humanoid_nav_msgs/package.xml
@@ -16,10 +16,15 @@
   <build_depend condition="$ROS_VERSION == 1">geometry_msgs</build_depend>
   <build_depend condition="$ROS_VERSION == 1">actionlib_msgs</build_depend>
 
-  <run_depend condition="$ROS_VERSION == 1">message_runtime</run_depend>
-  <run_depend condition="$ROS_VERSION == 1">std_msgs</run_depend>
-  <run_depend condition="$ROS_VERSION == 1">geometry_msgs</run_depend>
-  <run_depend condition="$ROS_VERSION == 1">actionlib_msgs</run_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">message_runtime</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">std_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">geometry_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 1">actionlib_msgs</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 1">message_runtime</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">geometry_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 1">actionlib_msgs</exec_depend>
 
 
   <buildtool_depend condition="$ROS_VERSION == 2">ament_cmake</buildtool_depend>
@@ -29,9 +34,15 @@
   <build_depend condition="$ROS_VERSION == 2">geometry_msgs</build_depend>
   <build_depend condition="$ROS_VERSION == 2">actionlib_msgs</build_depend>
 
-  <run_depend condition="$ROS_VERSION == 2">message_runtime</run_depend>
-  <run_depend condition="$ROS_VERSION == 2">std_msgs</run_depend>
-  <run_depend condition="$ROS_VERSION == 2">geometry_msgs</run_depend>
-  <run_depend condition="$ROS_VERSION == 2">actionlib_msgs</run_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">message_runtime</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">std_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">geometry_msgs</build_export_depend>
+  <build_export_depend condition="$ROS_VERSION == 2">actionlib_msgs</build_export_depend>
+
+  <exec_depend condition="$ROS_VERSION == 2">message_runtime</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">std_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">geometry_msgs</exec_depend>
+  <exec_depend condition="$ROS_VERSION == 2">actionlib_msgs</exec_depend>
+
 
 </package>
diff --git a/humanoid_robot_msgs/CMakeLists.txt b/humanoid_robot_msgs/CMakeLists.txt
index 30c78ee..5951d08 100644
--- a/humanoid_robot_msgs/CMakeLists.txt
+++ b/humanoid_robot_msgs/CMakeLists.txt
@@ -11,5 +11,3 @@ endif()
 if($ENV{ROS_VERSION} EQUAL 1)
   catkin_package()
 endif()
-
-catkin_metapackage()