diff --git a/.cproject b/.cproject
index 5da1acaf..b02afbb9 100644
--- a/.cproject
+++ b/.cproject
@@ -37,7 +37,7 @@
                             							
                             <targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.GNU_ELF" id="cdt.managedbuild.target.gnu.platform.base.2061193780" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
                             							
-                            <builder autoBuildTarget="all" buildPath="${workspace_loc:/${ProjName}}/../../build/kobuki_driver" cleanBuildTarget="clean" enableAutoBuild="false" enableCleanBuild="true" enabledIncrementalBuild="true" id="cdt.managedbuild.target.gnu.builder.base.1391071744" incrementalBuildTarget="all" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base">
+                            <builder autoBuildTarget="all" buildPath="${workspace_loc:/${ProjName}}/../../build/kobuki_core" cleanBuildTarget="clean" enableAutoBuild="false" enableCleanBuild="true" enabledIncrementalBuild="true" id="cdt.managedbuild.target.gnu.builder.base.1391071744" incrementalBuildTarget="install" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="cdt.managedbuild.target.gnu.builder.base">
                                 								
                                 <outputEntries>
                                     									
@@ -87,7 +87,7 @@
                     					
                     <sourceEntries>
                         						
-                        <entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="include"/>
+                        <entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="include/kobuki_core"/>
                         						
                         <entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="src"/>
                         					
@@ -194,5 +194,7 @@
         </buildTargets>
         	
     </storageModule>
+    	
+    <storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
     
 </cproject>
diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index c5013190..e6926aad 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -62,7 +62,7 @@ Forthcoming
 0.6.0 (2014-08-04)
 ------------------
 * add linear and angular test plot image
-* kobuki_driver : Updated doxygen. Issue `#10 <https://github.com/yujinrobot/kobuki_core/issues/10>`_.
+* kobuki_core : Updated doxygen. Issue `#10 <https://github.com/yujinrobot/kobuki_core/issues/10>`_.
 * Contributors: Younghun Ju, jihoonl
 
 0.5.3 (2013-09-06)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 468439e8..23f9dd88 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@
 ##############################################################################
 
 cmake_minimum_required(VERSION 3.5)
-project(kobuki_driver)
+project(kobuki_core)
 
 # Turn -isystem off. Actually like to see warnings from underlying packages
 # and regardless, have run into trouble because of the ordering it induces.
diff --git a/debian/postinst b/debian/postinst
index 6a4244cb..1c0b9f3c 100755
--- a/debian/postinst
+++ b/debian/postinst
@@ -1,5 +1,5 @@
 #!/bin/sh
-# postinst script for kobuki udev rules (part of the kobuki_driver package)
+# postinst script for kobuki udev rules (part of the kobuki_core package)
 #
 # see: dh_installdeb(1)
 
diff --git a/include/kobuki_driver/command.hpp b/include/kobuki_core/command.hpp
similarity index 96%
rename from include/kobuki_driver/command.hpp
rename to include/kobuki_core/command.hpp
index 8a7d0b5a..4de64a3b 100644
--- a/include/kobuki_driver/command.hpp
+++ b/include/kobuki_core/command.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/command.hpp
+ * @file include/kobuki_core/command.hpp
  *
  * @brief Command structure.
  *
@@ -10,8 +10,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_COMMAND_DATA_HPP__
-#define KOBUKI_COMMAND_DATA_HPP__
+#ifndef KOBUKI_CORE_COMMAND_DATA_HPP__
+#define KOBUKI_CORE_COMMAND_DATA_HPP__
 
 /*****************************************************************************
 ** Includes
@@ -137,5 +137,5 @@ class kobuki_PUBLIC Command : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_COMMAND_DATA_HPP__ */
+#endif /* KOBUKI_CORE_COMMAND_DATA_HPP__ */
 
diff --git a/include/kobuki_driver/dock_drive.hpp b/include/kobuki_core/dock_drive.hpp
similarity index 97%
rename from include/kobuki_driver/dock_drive.hpp
rename to include/kobuki_core/dock_drive.hpp
index f44a3226..f8fd6425 100644
--- a/include/kobuki_driver/dock_drive.hpp
+++ b/include/kobuki_core/dock_drive.hpp
@@ -10,8 +10,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef KOBUKI_DOCK_DRIVE_HPP_
-#define KOBUKI_DOCK_DRIVE_HPP_
+#ifndef KOBUKI_CORE_DOCK_DRIVE_HPP_
+#define KOBUKI_CORE_DOCK_DRIVE_HPP_
 
 /*****************************************************************************
 ** Includes
@@ -165,4 +165,4 @@ class DockDrive {
 
 } // namespace kobuki
 
-#endif /* KOBUKI_DOCK_DRIVE_HPP_ */
+#endif /* KOBUKI_CORE_DOCK_DRIVE_HPP_ */
diff --git a/include/kobuki_driver/event_manager.hpp b/include/kobuki_core/event_manager.hpp
similarity index 95%
rename from include/kobuki_driver/event_manager.hpp
rename to include/kobuki_core/event_manager.hpp
index e68a9d95..b51b8a58 100644
--- a/include/kobuki_driver/event_manager.hpp
+++ b/include/kobuki_core/event_manager.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/event_manager.hpp
+ * @file include/kobuki_core/event_manager.hpp
  *
  * @brief The event manager - sigslot interface.
  *
@@ -10,8 +10,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef KOBUKI_BUTTON_EVENT_HPP_
-#define KOBUKI_BUTTON_EVENT_HPP_
+#ifndef KOBUKI_CORE_BUTTON_EVENT_HPP_
+#define KOBUKI_CORE_BUTTON_EVENT_HPP_
 
 /*****************************************************************************
 ** Includes
@@ -144,4 +144,4 @@ class kobuki_PUBLIC EventManager {
 
 } // namespace kobuki
 
-#endif /* KOBUKI_BUTTON_EVENT_HPP_ */
+#endif /* KOBUKI_CORE_BUTTON_EVENT_HPP_ */
diff --git a/include/kobuki_driver/kobuki.hpp b/include/kobuki_core/kobuki.hpp
similarity index 98%
rename from include/kobuki_driver/kobuki.hpp
rename to include/kobuki_core/kobuki.hpp
index d3715422..b0ab206f 100644
--- a/include/kobuki_driver/kobuki.hpp
+++ b/include/kobuki_core/kobuki.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/kobuki.hpp
+ * @file include/kobuki_core/kobuki.hpp
  *
  * @brief Device driver core interface.
  *
@@ -10,8 +10,8 @@
  ** Ifdefs
  *****************************************************************************/
 
-#ifndef KOBUKI_HPP_
-#define KOBUKI_HPP_
+#ifndef KOBUKI_CORE_HPP_
+#define KOBUKI_CORE_HPP_
 
 /*****************************************************************************
  ** Includes
@@ -265,4 +265,4 @@ class kobuki_PUBLIC Kobuki
 
 } // namespace kobuki
 
-#endif /* KOBUKI_HPP_ */
+#endif /* KOBUKI_CORE_HPP_ */
diff --git a/include/kobuki_driver/macros.hpp b/include/kobuki_core/macros.hpp
similarity index 86%
rename from include/kobuki_driver/macros.hpp
rename to include/kobuki_core/macros.hpp
index a5f63a7d..78e01a54 100644
--- a/include/kobuki_driver/macros.hpp
+++ b/include/kobuki_core/macros.hpp
@@ -1,7 +1,7 @@
 /**
- * @file /include/kobuki_driver/macros.hpp
+ * @file /include/kobuki_core/macros.hpp
  *
- * @brief Macros for kobuki_driver.
+ * @brief Macros for kobuki_core.
  *
  * License: BSD
  *   https://raw.githubusercontent.com/kobuki-base/kobuki_core/license/LICENSE
@@ -10,8 +10,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef KOBUKI_DRIVER_MACROS_HPP_
-#define KOBUKI_DRIVER_MACROS_HPP_
+#ifndef KOBUKI_CORE_MACROS_HPP_
+#define KOBUKI_CORE_MACROS_HPP_
 
 /*****************************************************************************
 ** Includes
@@ -42,4 +42,4 @@
   #define EXP_TEMPLATE
 #endif
 
-#endif /* KOBUKI_DRIVER_MACROS_HPP_ */
+#endif /* KOBUKI_CORE_MACROS_HPP_ */
diff --git a/include/kobuki_driver/modules.hpp b/include/kobuki_core/modules.hpp
similarity index 82%
rename from include/kobuki_driver/modules.hpp
rename to include/kobuki_core/modules.hpp
index 45909795..1d0f95cf 100644
--- a/include/kobuki_driver/modules.hpp
+++ b/include/kobuki_core/modules.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/modules.hpp
+ * @file include/kobuki_core/modules.hpp
  *
  * @brief Convenience header for modules.
  *
@@ -10,8 +10,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef KOBUKI_MODULES_HPP_
-#define KOBUKI_MODULES_HPP_
+#ifndef KOBUKI_CORE_MODULES_HPP_
+#define KOBUKI_CORE_MODULES_HPP_
 
 /*****************************************************************************
 ** Includes
@@ -24,4 +24,4 @@
 #include "modules/sound.hpp"
 #include "modules/acceleration_limiter.hpp"
 
-#endif /* KOBUKI_MODULES_HPP_ */
+#endif /* KOBUKI_CORE_MODULES_HPP_ */
diff --git a/include/kobuki_driver/modules/acceleration_limiter.hpp b/include/kobuki_core/modules/acceleration_limiter.hpp
similarity index 98%
rename from include/kobuki_driver/modules/acceleration_limiter.hpp
rename to include/kobuki_core/modules/acceleration_limiter.hpp
index a752957e..f3d4dcb2 100644
--- a/include/kobuki_driver/modules/acceleration_limiter.hpp
+++ b/include/kobuki_core/modules/acceleration_limiter.hpp
@@ -10,8 +10,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef KOBUKI_ACCELERATION_LIMITER_HPP_
-#define KOBUKI_ACCELERATION_LIMITER_HPP_
+#ifndef KOBUKI_CORE_ACCELERATION_LIMITER_HPP_
+#define KOBUKI_CORE_ACCELERATION_LIMITER_HPP_
 
 /*****************************************************************************
 ** Includes
diff --git a/include/kobuki_driver/modules/battery.hpp b/include/kobuki_core/modules/battery.hpp
similarity index 91%
rename from include/kobuki_driver/modules/battery.hpp
rename to include/kobuki_core/modules/battery.hpp
index 7c4d7367..d67fdd54 100644
--- a/include/kobuki_driver/modules/battery.hpp
+++ b/include/kobuki_core/modules/battery.hpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/include/kobuki_driver/modules/battery.hpp
+ * @file /kobuki_core/include/kobuki_core/modules/battery.hpp
  *
  * @brief Human friendly batter indicator class.
  *
@@ -10,8 +10,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef KOBUKI_BATTERY_HPP_
-#define KOBUKI_BATTERY_HPP_
+#ifndef KOBUKI_CORE_BATTERY_HPP_
+#define KOBUKI_CORE_BATTERY_HPP_
 
 /*****************************************************************************
 ** Includes
@@ -71,4 +71,4 @@ class kobuki_PUBLIC Battery {
 
 } // namespace kobuki
 
-#endif /* KOBUKI_BATTERY_HPP_ */
+#endif /* KOBUKI_CORE_BATTERY_HPP_ */
diff --git a/include/kobuki_driver/modules/diff_drive.hpp b/include/kobuki_core/modules/diff_drive.hpp
similarity index 94%
rename from include/kobuki_driver/modules/diff_drive.hpp
rename to include/kobuki_core/modules/diff_drive.hpp
index da61d069..679fef5c 100644
--- a/include/kobuki_driver/modules/diff_drive.hpp
+++ b/include/kobuki_core/modules/diff_drive.hpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/include/kobuki_driver/modules/diff_drive.hpp
+ * @file /kobuki_core/include/kobuki_core/modules/diff_drive.hpp
  *
  * @brief Simple module for the diff drive odometry.
  *
@@ -10,8 +10,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef KOBUKI_DIFF_DRIVE_HPP_
-#define KOBUKI_DIFF_DRIVE_HPP_
+#ifndef KOBUKI_CORE_DIFF_DRIVE_HPP_
+#define KOBUKI_CORE_DIFF_DRIVE_HPP_
 
 /*****************************************************************************
 ** Includes
@@ -89,4 +89,4 @@ class kobuki_PUBLIC DiffDrive {
 
 } // namespace kobuki
 
-#endif /* KOBUKI_DIFF_DRIVE_HPP_ */
+#endif /* KOBUKI_CORE_DIFF_DRIVE_HPP_ */
diff --git a/include/kobuki_driver/modules/digital_output.hpp b/include/kobuki_core/modules/digital_output.hpp
similarity index 84%
rename from include/kobuki_driver/modules/digital_output.hpp
rename to include/kobuki_core/modules/digital_output.hpp
index 661297f0..c63c8e6a 100644
--- a/include/kobuki_driver/modules/digital_output.hpp
+++ b/include/kobuki_core/modules/digital_output.hpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/include/kobuki_driver/modules/digital_output.hpp
+ * @file /kobuki_core/include/kobuki_core/modules/digital_output.hpp
  *
  * @brief Digital output flags.
  *
@@ -10,8 +10,8 @@
  ** Ifdefs
  *****************************************************************************/
 
-#ifndef KOBUKI_DIGITAL_OUTPUT_HPP_
-#define KOBUKI_DIGITAL_OUTPUT_HPP_
+#ifndef KOBUKI_CORE_DIGITAL_OUTPUT_HPP_
+#define KOBUKI_CORE_DIGITAL_OUTPUT_HPP_
 
 /*****************************************************************************
  ** Namespaces
@@ -40,4 +40,4 @@ struct DigitalOutput {
 
 } // namespace kobuki
 
-#endif /* KOBUKI_DIGITAL_OUTPUT_HPP_ */
+#endif /* KOBUKI_CORE_DIGITAL_OUTPUT_HPP_ */
diff --git a/include/kobuki_driver/modules/led_array.hpp b/include/kobuki_core/modules/led_array.hpp
similarity index 89%
rename from include/kobuki_driver/modules/led_array.hpp
rename to include/kobuki_core/modules/led_array.hpp
index 04deb0d3..e017954b 100644
--- a/include/kobuki_driver/modules/led_array.hpp
+++ b/include/kobuki_core/modules/led_array.hpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/include/kobuki_driver/modules/led_array.hpp
+ * @file /kobuki_core/include/kobuki_core/modules/led_array.hpp
  *
  * @brief Definitions for manipulating the led's.
  *
@@ -10,8 +10,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef KOBUKI_LED_ARRAY_HPP_
-#define KOBUKI_LED_ARRAY_HPP_
+#ifndef KOBUKI_CORE_LED_ARRAY_HPP_
+#define KOBUKI_CORE_LED_ARRAY_HPP_
 
 /*****************************************************************************
 ** Includes
diff --git a/include/kobuki_driver/modules/sound.hpp b/include/kobuki_core/modules/sound.hpp
similarity index 88%
rename from include/kobuki_driver/modules/sound.hpp
rename to include/kobuki_core/modules/sound.hpp
index 4df3acb9..e1e669e4 100644
--- a/include/kobuki_driver/modules/sound.hpp
+++ b/include/kobuki_core/modules/sound.hpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/include/kobuki_driver/modules/sound.hpp
+ * @file /kobuki_core/include/kobuki_core/modules/sound.hpp
  *
  * @brief Flags and id's for commanding sound sequences.
  *
@@ -10,8 +10,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef KOBUKI_SOUND_HPP_
-#define KOBUKI_SOUND_HPP_
+#ifndef KOBUKI_CORE_SOUND_HPP_
+#define KOBUKI_CORE_SOUND_HPP_
 
 /*****************************************************************************
 ** Includes
@@ -40,4 +40,4 @@ enum SoundSequences
 
 } // namespace kobuki
 
-#endif /* KOBUKI_SOUND_HPP_ */
+#endif /* KOBUKI_CORE_SOUND_HPP_ */
diff --git a/include/kobuki_driver/packet_handler/packet_finder.hpp b/include/kobuki_core/packet_handler/packet_finder.hpp
similarity index 98%
rename from include/kobuki_driver/packet_handler/packet_finder.hpp
rename to include/kobuki_core/packet_handler/packet_finder.hpp
index 43a0366d..c405e10f 100644
--- a/include/kobuki_driver/packet_handler/packet_finder.hpp
+++ b/include/kobuki_core/packet_handler/packet_finder.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/packet_handler/packet_finder.hpp
+ * @file include/kobuki_core/packet_handler/packet_finder.hpp
  *
  * @brief Simple packet finder
  *
diff --git a/include/kobuki_driver/packet_handler/payload_base.hpp b/include/kobuki_core/packet_handler/payload_base.hpp
similarity index 97%
rename from include/kobuki_driver/packet_handler/payload_base.hpp
rename to include/kobuki_core/packet_handler/payload_base.hpp
index 49fdc83f..a1a984bd 100644
--- a/include/kobuki_driver/packet_handler/payload_base.hpp
+++ b/include/kobuki_core/packet_handler/payload_base.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/packet_handler/payload_base.hpp
+ * @file include/kobuki_core/packet_handler/payload_base.hpp
  *
  * @brief Base class for payloads.
  *
diff --git a/include/kobuki_driver/packet_handler/payload_headers.hpp b/include/kobuki_core/packet_handler/payload_headers.hpp
similarity index 85%
rename from include/kobuki_driver/packet_handler/payload_headers.hpp
rename to include/kobuki_core/packet_handler/payload_headers.hpp
index 994c7d86..c891a8a3 100644
--- a/include/kobuki_driver/packet_handler/payload_headers.hpp
+++ b/include/kobuki_core/packet_handler/payload_headers.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/packet_handler/payload_headers.hpp
+ * @file include/kobuki_core/packet_handler/payload_headers.hpp
  *
  * @brief Byte id's for the individual payload headers.
  *
@@ -13,8 +13,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef KOBUKI_PAYLOAD_HEADERS_HPP_
-#define KOBUKI_PAYLOAD_HEADERS_HPP_
+#ifndef KOBUKI_CORE_PAYLOAD_HEADERS_HPP_
+#define KOBUKI_CORE_PAYLOAD_HEADERS_HPP_
 
 /*****************************************************************************
 ** Includes
@@ -41,4 +41,4 @@ class Header {
 
 } // namespace kobuki
 
-#endif /* KOBUKI_PAYLOAD_HEADERS_HPP_ */
+#endif /* KOBUKI_CORE_PAYLOAD_HEADERS_HPP_ */
diff --git a/include/kobuki_driver/packets.hpp b/include/kobuki_core/packets.hpp
similarity index 85%
rename from include/kobuki_driver/packets.hpp
rename to include/kobuki_core/packets.hpp
index 7e29a10a..8d525d52 100644
--- a/include/kobuki_driver/packets.hpp
+++ b/include/kobuki_core/packets.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/packets.hpp
+ * @file include/kobuki_core/packets.hpp
  *
  * @brief Packets convenience header.
  *
@@ -10,8 +10,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef KOBUKI_PACKETS_HPP_
-#define KOBUKI_PACKETS_HPP_
+#ifndef KOBUKI_CORE_PACKETS_HPP_
+#define KOBUKI_CORE_PACKETS_HPP_
 
 /*****************************************************************************
 ** Includes
@@ -30,4 +30,4 @@
 #include "packets/controller_info.hpp"
 
 
-#endif /* KOBUKI_PACKETS_HPP_ */
+#endif /* KOBUKI_CORE_PACKETS_HPP_ */
diff --git a/include/kobuki_driver/packets/cliff.hpp b/include/kobuki_core/packets/cliff.hpp
similarity index 93%
rename from include/kobuki_driver/packets/cliff.hpp
rename to include/kobuki_core/packets/cliff.hpp
index 752ff1f4..c583a5e4 100644
--- a/include/kobuki_driver/packets/cliff.hpp
+++ b/include/kobuki_core/packets/cliff.hpp
@@ -1,5 +1,5 @@
 /**
- * @file /include/kobuki_driver/packets/cliff.hpp
+ * @file /include/kobuki_core/packets/cliff.hpp
  *
  * @brief Cliff sensor packet payloads.
  *
@@ -10,8 +10,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_CLIFF_DATA_HPP__
-#define KOBUKI_CLIFF_DATA_HPP__
+#ifndef KOBUKI_CORE_CLIFF_DATA_HPP__
+#define KOBUKI_CORE_CLIFF_DATA_HPP__
 
 /*****************************************************************************
 ** Include
@@ -87,4 +87,4 @@ class Cliff : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_IR_DATA_HPP__ */
+#endif /* KOBUKI_CORE_IR_DATA_HPP__ */
diff --git a/include/kobuki_driver/packets/controller_info.hpp b/include/kobuki_core/packets/controller_info.hpp
similarity index 93%
rename from include/kobuki_driver/packets/controller_info.hpp
rename to include/kobuki_core/packets/controller_info.hpp
index 6adcd69d..3d02a6bd 100644
--- a/include/kobuki_driver/packets/controller_info.hpp
+++ b/include/kobuki_core/packets/controller_info.hpp
@@ -1,5 +1,5 @@
 /**
- * @file kobuki_driver/packets/controller_info.hpp
+ * @file kobuki_core/packets/controller_info.hpp
  *
  * @brief Controller info packet payloads.
  *
@@ -10,8 +10,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_CONTROLLER_INFO_HPP__
-#define KOBUKI_CONTROLLER_INFO_HPP__
+#ifndef KOBUKI_CORE_CONTROLLER_INFO_HPP__
+#define KOBUKI_CORE_CONTROLLER_INFO_HPP__
 
 /*****************************************************************************
 ** Include
@@ -89,4 +89,4 @@ class ControllerInfo : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_CONTROLLER_INFO_HPP__ */
+#endif /* KOBUKI_CORE_CONTROLLER_INFO_HPP__ */
diff --git a/include/kobuki_driver/packets/core_sensors.hpp b/include/kobuki_core/packets/core_sensors.hpp
similarity index 93%
rename from include/kobuki_driver/packets/core_sensors.hpp
rename to include/kobuki_core/packets/core_sensors.hpp
index a8a61af0..f0097a4a 100644
--- a/include/kobuki_driver/packets/core_sensors.hpp
+++ b/include/kobuki_core/packets/core_sensors.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/packets/core_sensors.hpp
+ * @file include/kobuki_core/packets/core_sensors.hpp
  *
  * @brief Core sensor packet payloads.
  *
@@ -10,8 +10,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_CORE_SENSORS_HPP__
-#define KOBUKI_CORE_SENSORS_HPP__
+#ifndef KOBUKI_CORE_CORE_SENSORS_HPP__
+#define KOBUKI_CORE_CORE_SENSORS_HPP__
 
 /*****************************************************************************
 ** Include
@@ -93,4 +93,4 @@ class kobuki_PUBLIC CoreSensors : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_CORE_SENSORS_HPP__ */
+#endif /* KOBUKI_CORE_CORE_SENSORS_HPP__ */
diff --git a/include/kobuki_driver/packets/current.hpp b/include/kobuki_core/packets/current.hpp
similarity index 93%
rename from include/kobuki_driver/packets/current.hpp
rename to include/kobuki_core/packets/current.hpp
index 91360505..ef5c61f9 100644
--- a/include/kobuki_driver/packets/current.hpp
+++ b/include/kobuki_core/packets/current.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/packets/current.hpp
+ * @file include/kobuki_core/packets/current.hpp
  *
  * @brief Current level packet payloads.
  *
@@ -10,8 +10,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_CURRENT_DATA_HPP__
-#define KOBUKI_CURRENT_DATA_HPP__
+#ifndef KOBUKI_CORE_CURRENT_DATA_HPP__
+#define KOBUKI_CORE_CURRENT_DATA_HPP__
 
 /*****************************************************************************
 ** Include
@@ -87,4 +87,4 @@ class Current : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_CURRENT_DATA_HPP__ */
+#endif /* KOBUKI_CORE_CURRENT_DATA_HPP__ */
diff --git a/include/kobuki_driver/packets/dock_ir.hpp b/include/kobuki_core/packets/dock_ir.hpp
similarity index 93%
rename from include/kobuki_driver/packets/dock_ir.hpp
rename to include/kobuki_core/packets/dock_ir.hpp
index 3e45e6b5..02db6aa1 100644
--- a/include/kobuki_driver/packets/dock_ir.hpp
+++ b/include/kobuki_core/packets/dock_ir.hpp
@@ -1,5 +1,5 @@
 /**
- * @file kobuki_driver/packets/dock_ir.hpp
+ * @file kobuki_core/packets/dock_ir.hpp
  *
  * @brief Docking infrared sensor packet payloads.
  *
@@ -10,8 +10,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_DOCK_IR_DATA_HPP__
-#define KOBUKI_DOCK_IR_DATA_HPP__
+#ifndef KOBUKI_CORE_DOCK_IR_DATA_HPP__
+#define KOBUKI_CORE_DOCK_IR_DATA_HPP__
 
 /*****************************************************************************
 ** Include
@@ -85,4 +85,4 @@ class DockIR : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_IR_DATA_HPP__ */
+#endif /* KOBUKI_CORE_IR_DATA_HPP__ */
diff --git a/include/kobuki_driver/packets/eeprom.hpp b/include/kobuki_core/packets/eeprom.hpp
similarity index 93%
rename from include/kobuki_driver/packets/eeprom.hpp
rename to include/kobuki_core/packets/eeprom.hpp
index 9d6d2e73..9f8906f9 100644
--- a/include/kobuki_driver/packets/eeprom.hpp
+++ b/include/kobuki_core/packets/eeprom.hpp
@@ -1,5 +1,5 @@
 /**
- * @file /include/kobuki_driver/packets/eeprom.hpp
+ * @file /include/kobuki_core/packets/eeprom.hpp
  *
  * @brief Eeprom packet payloads.
  *
@@ -12,8 +12,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_EEPROM_DATA_HPP__
-#define KOBUKI_EEPROM_DATA_HPP__
+#ifndef KOBUKI_CORE_EEPROM_DATA_HPP__
+#define KOBUKI_CORE_EEPROM_DATA_HPP__
 
 /*****************************************************************************
 ** Include
@@ -92,5 +92,5 @@ class Eeprom : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_EEPROM_DATA_HPP__ */
+#endif /* KOBUKI_CORE_EEPROM_DATA_HPP__ */
 
diff --git a/include/kobuki_driver/packets/firmware.hpp b/include/kobuki_core/packets/firmware.hpp
similarity index 96%
rename from include/kobuki_driver/packets/firmware.hpp
rename to include/kobuki_core/packets/firmware.hpp
index d532cb39..98a0844a 100644
--- a/include/kobuki_driver/packets/firmware.hpp
+++ b/include/kobuki_core/packets/firmware.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/packets/firmware.hpp
+ * @file include/kobuki_core/packets/firmware.hpp
  *
  * @brief Firmware version request packet payloads.
  *
@@ -10,8 +10,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_FW_DATA_HPP__
-#define KOBUKI_FW_DATA_HPP__
+#ifndef KOBUKI_CORE_FW_DATA_HPP__
+#define KOBUKI_CORE_FW_DATA_HPP__
 
 /*****************************************************************************
 ** Include
@@ -144,5 +144,5 @@ class Firmware : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_FW_DATA_HPP__ */
+#endif /* KOBUKI_CORE_FW_DATA_HPP__ */
 
diff --git a/include/kobuki_driver/packets/gp_input.hpp b/include/kobuki_core/packets/gp_input.hpp
similarity index 94%
rename from include/kobuki_driver/packets/gp_input.hpp
rename to include/kobuki_core/packets/gp_input.hpp
index c21abf07..677a8968 100644
--- a/include/kobuki_driver/packets/gp_input.hpp
+++ b/include/kobuki_core/packets/gp_input.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/packets/gp_input.hpp
+ * @file include/kobuki_core/packets/gp_input.hpp
  *
  * @brief gpio data command packets.
  *
@@ -10,8 +10,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_GP_INPUT_HPP__
-#define KOBUKI_GP_INPUT_HPP__
+#ifndef KOBUKI_CORE_GP_INPUT_HPP__
+#define KOBUKI_CORE_GP_INPUT_HPP__
 
 /*****************************************************************************
 ** Include
@@ -109,5 +109,5 @@ class GpInput : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_GP_INPUT_HPP__ */
+#endif /* KOBUKI_CORE_GP_INPUT_HPP__ */
 
diff --git a/include/kobuki_driver/packets/hardware.hpp b/include/kobuki_core/packets/hardware.hpp
similarity index 94%
rename from include/kobuki_driver/packets/hardware.hpp
rename to include/kobuki_core/packets/hardware.hpp
index e9c97230..9e8b0d34 100644
--- a/include/kobuki_driver/packets/hardware.hpp
+++ b/include/kobuki_core/packets/hardware.hpp
@@ -1,5 +1,5 @@
 /**
- * @file /include/kobuki_driver/packets/hardware.hpp
+ * @file /include/kobuki_core/packets/hardware.hpp
  *
  * @brief Hardware version request packet payloads.
  *
@@ -10,8 +10,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_HW_DATA_HPP__
-#define KOBUKI_HW_DATA_HPP__
+#ifndef KOBUKI_CORE_HW_DATA_HPP__
+#define KOBUKI_CORE_HW_DATA_HPP__
 
 /*****************************************************************************
 ** Include
@@ -94,5 +94,5 @@ class Hardware : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_HW_DATA_HPP__ */
+#endif /* KOBUKI_CORE_HW_DATA_HPP__ */
 
diff --git a/include/kobuki_driver/packets/inertia.hpp b/include/kobuki_core/packets/inertia.hpp
similarity index 93%
rename from include/kobuki_driver/packets/inertia.hpp
rename to include/kobuki_core/packets/inertia.hpp
index 35f13c2c..c412771d 100644
--- a/include/kobuki_driver/packets/inertia.hpp
+++ b/include/kobuki_core/packets/inertia.hpp
@@ -1,5 +1,5 @@
 /**
- * @file /include/kobuki_driver/packets/inertia.hpp
+ * @file /include/kobuki_core/packets/inertia.hpp
  *
  * @brief Inertia packet payloads.
  *
@@ -10,8 +10,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_INERTIA_DATA_HPP__
-#define KOBUKI_INERTIA_DATA_HPP__
+#ifndef KOBUKI_CORE_INERTIA_DATA_HPP__
+#define KOBUKI_CORE_INERTIA_DATA_HPP__
 
 /*****************************************************************************
 ** Includes
@@ -91,5 +91,5 @@ class Inertia : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_INERTIA_DATA_HPP__ */
+#endif /* KOBUKI_CORE_INERTIA_DATA_HPP__ */
 
diff --git a/include/kobuki_driver/packets/three_axis_gyro.hpp b/include/kobuki_core/packets/three_axis_gyro.hpp
similarity index 93%
rename from include/kobuki_driver/packets/three_axis_gyro.hpp
rename to include/kobuki_core/packets/three_axis_gyro.hpp
index 324a8f77..102b7607 100644
--- a/include/kobuki_driver/packets/three_axis_gyro.hpp
+++ b/include/kobuki_core/packets/three_axis_gyro.hpp
@@ -1,5 +1,5 @@
 /**
- * @file /include/kobuki_driver/packets/three_axis_gyro.hpp
+ * @file /include/kobuki_core/packets/three_axis_gyro.hpp
  * @author Younghun Ju <yhju@yujinrobot.com> <yhju83@gmail.com>
  * @brief Module for handling of three_axis_gyro packet payloads.
  *
@@ -10,8 +10,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_THREE_AXIS_GYRO_DATA_HPP__
-#define KOBUKI_THREE_AXIS_GYRO_DATA_HPP__
+#ifndef KOBUKI_CORE_THREE_AXIS_GYRO_DATA_HPP__
+#define KOBUKI_CORE_THREE_AXIS_GYRO_DATA_HPP__
 
 /*****************************************************************************
 ** Includes
@@ -98,5 +98,5 @@ class ThreeAxisGyro : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_THREE_AXIS_GYRO_DATA_HPP__ */
+#endif /* KOBUKI_CORE_THREE_AXIS_GYRO_DATA_HPP__ */
 
diff --git a/include/kobuki_driver/packets/unique_device_id.hpp b/include/kobuki_core/packets/unique_device_id.hpp
similarity index 93%
rename from include/kobuki_driver/packets/unique_device_id.hpp
rename to include/kobuki_core/packets/unique_device_id.hpp
index 128c9589..1ff98df3 100644
--- a/include/kobuki_driver/packets/unique_device_id.hpp
+++ b/include/kobuki_core/packets/unique_device_id.hpp
@@ -1,5 +1,5 @@
 /**
- * @file /include/kobuki_driver/packets/unique_device_id.hpp
+ * @file /include/kobuki_core/packets/unique_device_id.hpp
  *
  * @brief Module for handling of unique device id request packet payloads.
  *
@@ -10,8 +10,8 @@
 ** Preprocessor
 *****************************************************************************/
 
-#ifndef KOBUKI_UDID_DATA_HPP__
-#define KOBUKI_UDID_DATA_HPP__
+#ifndef KOBUKI_CORE_UDID_DATA_HPP__
+#define KOBUKI_CORE_UDID_DATA_HPP__
 
 /*****************************************************************************
 ** Include
@@ -87,5 +87,5 @@ class UniqueDeviceID : public packet_handler::payloadBase
 
 } // namespace kobuki
 
-#endif /* KOBUKI_UDID_DATA_HPP__ */
+#endif /* KOBUKI_CORE_UDID_DATA_HPP__ */
 
diff --git a/include/kobuki_driver/parameters.hpp b/include/kobuki_core/parameters.hpp
similarity index 95%
rename from include/kobuki_driver/parameters.hpp
rename to include/kobuki_core/parameters.hpp
index c5379914..58f722cb 100644
--- a/include/kobuki_driver/parameters.hpp
+++ b/include/kobuki_core/parameters.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/parameters.hpp
+ * @file include/kobuki_core/parameters.hpp
  *
  * @brief Parameter configuration for the kobuki.
  *
@@ -10,8 +10,8 @@
  ** Ifdefs
  *****************************************************************************/
 
-#ifndef KOBUKI_PARAMETERS_HPP_
-#define KOBUKI_PARAMETERS_HPP_
+#ifndef KOBUKI_CORE_PARAMETERS_HPP_
+#define KOBUKI_CORE_PARAMETERS_HPP_
 
 /*****************************************************************************
  ** Includes
@@ -82,4 +82,4 @@ class Parameters
 
 } // namespace kobuki
 
-#endif /* KOBUKI_PARAMETERS_HPP_ */
+#endif /* KOBUKI_CORE_PARAMETERS_HPP_ */
diff --git a/include/kobuki_driver/version_info.hpp b/include/kobuki_core/version_info.hpp
similarity index 93%
rename from include/kobuki_driver/version_info.hpp
rename to include/kobuki_core/version_info.hpp
index aeb99535..5b088248 100644
--- a/include/kobuki_driver/version_info.hpp
+++ b/include/kobuki_core/version_info.hpp
@@ -1,5 +1,5 @@
 /**
- * @file include/kobuki_driver/version_info.hpp
+ * @file include/kobuki_core/version_info.hpp
  *
  * @brief Version info for the kobuki driver.
  *
@@ -10,8 +10,8 @@
 ** Ifdefs
 *****************************************************************************/
 
-#ifndef KOBUKI_VERSION_HPP_
-#define KOBUKI_VERSION_HPP_
+#ifndef KOBUKI_CORE_VERSION_HPP_
+#define KOBUKI_CORE_VERSION_HPP_
 
 /*****************************************************************************
 ** Includes
@@ -71,4 +71,4 @@ class kobuki_PUBLIC VersionInfo {
 };
 
 } // namespace kobuki
-#endif /* KOBUKI_VERSION_HPP_ */
+#endif /* KOBUKI_CORE_VERSION_HPP_ */
diff --git a/package.xml b/package.xml
index 4839a8ac..367c0320 100644
--- a/package.xml
+++ b/package.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>kobuki_driver</name>
+  <name>kobuki_core</name>
   <version>1.1.1</version>
   <description>
     Pure C++ driver library for Kobuki.
diff --git a/src/demos/CMakeLists.txt b/src/demos/CMakeLists.txt
index c30da0de..077aa73c 100644
--- a/src/demos/CMakeLists.txt
+++ b/src/demos/CMakeLists.txt
@@ -2,8 +2,8 @@
 # Macro
 ###############################################################################
 
-macro(kobuki_driver_add_demo name)
-  set(target_name kobuki_driver_demo_${name})
+macro(kobuki_core_add_demo name)
+  set(target_name kobuki_core_demo_${name})
   add_executable(${target_name} ${name}.cpp)
   target_link_libraries(${target_name}
     ${PROJECT_NAME}
@@ -22,8 +22,8 @@ endmacro()
 # Tests
 ###############################################################################
 
-kobuki_driver_add_demo(chirp)
-kobuki_driver_add_demo(buttons)
-kobuki_driver_add_demo(stream)
-kobuki_driver_add_demo(velocity_commands)
-kobuki_driver_add_demo(simple_loop)
+kobuki_core_add_demo(chirp)
+kobuki_core_add_demo(buttons)
+kobuki_core_add_demo(stream)
+kobuki_core_add_demo(velocity_commands)
+kobuki_core_add_demo(simple_loop)
diff --git a/src/demos/buttons.cpp b/src/demos/buttons.cpp
index 41c29670..8ab5d228 100644
--- a/src/demos/buttons.cpp
+++ b/src/demos/buttons.cpp
@@ -19,7 +19,7 @@
 #include <ecl/time.hpp>
 #include <ecl/sigslots.hpp>
 
-#include <kobuki_driver/kobuki.hpp>
+#include <kobuki_core/kobuki.hpp>
 
 /*****************************************************************************
  ** Classes
diff --git a/src/demos/chirp.cpp b/src/demos/chirp.cpp
index 1eea59b3..5afff7fa 100644
--- a/src/demos/chirp.cpp
+++ b/src/demos/chirp.cpp
@@ -16,7 +16,7 @@
 #include <ecl/time.hpp>
 #include <ecl/command_line.hpp>
 
-#include <kobuki_driver/kobuki.hpp>
+#include <kobuki_core/kobuki.hpp>
 
 /*****************************************************************************
  ** Classes
diff --git a/src/demos/simple_loop.cpp b/src/demos/simple_loop.cpp
index 53023d27..69be63bb 100644
--- a/src/demos/simple_loop.cpp
+++ b/src/demos/simple_loop.cpp
@@ -22,7 +22,7 @@
 #include <ecl/geometry/legacy_pose2d.hpp>
 #include <ecl/linear_algebra.hpp>
 #include <ecl/command_line.hpp>
-#include "kobuki_driver/kobuki.hpp"
+#include "kobuki_core/kobuki.hpp"
 
 /*****************************************************************************
 ** Classes
diff --git a/src/demos/stream.cpp b/src/demos/stream.cpp
index 488f6e7b..b3890c76 100644
--- a/src/demos/stream.cpp
+++ b/src/demos/stream.cpp
@@ -17,7 +17,7 @@
 #include <ecl/time.hpp>
 #include <ecl/sigslots.hpp>
 
-#include <kobuki_driver/kobuki.hpp>
+#include <kobuki_core/kobuki.hpp>
 
 /*****************************************************************************
  ** Classes
diff --git a/src/driver/battery.cpp b/src/driver/battery.cpp
index b39ea0e0..74483225 100644
--- a/src/driver/battery.cpp
+++ b/src/driver/battery.cpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/src/driver/battery.cpp
+ * @file /kobuki_core/src/driver/battery.cpp
  *
  * @brief Battery/charging source implementation
  *
@@ -11,7 +11,7 @@
 ** Includes
 *****************************************************************************/
 
-#include "../../include/kobuki_driver/modules/battery.hpp"
+#include "../../include/kobuki_core/modules/battery.hpp"
 
 /*****************************************************************************
 ** Namespaces
diff --git a/src/driver/command.cpp b/src/driver/command.cpp
index 9238b923..105cfc6d 100644
--- a/src/driver/command.cpp
+++ b/src/driver/command.cpp
@@ -11,7 +11,7 @@
 ** Includes
 *****************************************************************************/
 
-#include "../../include/kobuki_driver/command.hpp"
+#include "../../include/kobuki_core/command.hpp"
 
 /*****************************************************************************
 ** Namespaces
diff --git a/src/driver/core_sensors.cpp b/src/driver/core_sensors.cpp
index a0bca98a..cc955a9d 100644
--- a/src/driver/core_sensors.cpp
+++ b/src/driver/core_sensors.cpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/src/driver/core_sensors.cpp
+ * @file /kobuki_core/src/driver/core_sensors.cpp
  *
  * @brief Implementation of the core sensor packet data.
  *
@@ -11,8 +11,8 @@
 ** Includes
 *****************************************************************************/
 
-#include "../../include/kobuki_driver/packets/core_sensors.hpp"
-#include "../../include/kobuki_driver/packet_handler/payload_headers.hpp"
+#include "../../include/kobuki_core/packets/core_sensors.hpp"
+#include "../../include/kobuki_core/packet_handler/payload_headers.hpp"
 
 /*****************************************************************************
 ** Namespaces
diff --git a/src/driver/diff_drive.cpp b/src/driver/diff_drive.cpp
index acae5f7c..3ee92cd6 100644
--- a/src/driver/diff_drive.cpp
+++ b/src/driver/diff_drive.cpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/src/driver/diff_drive.cpp
+ * @file /kobuki_core/src/driver/diff_drive.cpp
  *
  * @brief Differential drive abstraction (brought in from ycs).
  *
@@ -11,7 +11,7 @@
 ** Includes
 *****************************************************************************/
 
-#include "../../include/kobuki_driver/modules/diff_drive.hpp"
+#include "../../include/kobuki_core/modules/diff_drive.hpp"
 
 /*****************************************************************************
 ** Namespaces
diff --git a/src/driver/dock_drive.cpp b/src/driver/dock_drive.cpp
index 3f3b2fe6..ade340fc 100644
--- a/src/driver/dock_drive.cpp
+++ b/src/driver/dock_drive.cpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/src/driver/dock_drive.cpp
+ * @file /kobuki_core/src/driver/dock_drive.cpp
  *
  * License: BSD
  *   https://raw.githubusercontent.com/kobuki-base/kobuki_core/license/LICENSE
@@ -9,7 +9,7 @@
 ** includes
 *****************************************************************************/
 
-#include "../../include/kobuki_driver/dock_drive.hpp"
+#include "../../include/kobuki_core/dock_drive.hpp"
 
 /*****************************************************************************
 ** defines
diff --git a/src/driver/dock_drive_debug.cpp b/src/driver/dock_drive_debug.cpp
index 726cfcd4..b7fa5f4d 100644
--- a/src/driver/dock_drive_debug.cpp
+++ b/src/driver/dock_drive_debug.cpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/src/driver/dock_drive_debug.cpp
+ * @file /kobuki_core/src/driver/dock_drive_debug.cpp
  *
  * License: BSD
  *   https://raw.githubusercontent.com/kobuki-base/kobuki_core/license/LICENSE
@@ -9,7 +9,7 @@
 ** includes
 *****************************************************************************/
 
-#include "../../include/kobuki_driver/dock_drive.hpp"
+#include "../../include/kobuki_core/dock_drive.hpp"
 
 namespace kobuki {
 /*************************
diff --git a/src/driver/dock_drive_states.cpp b/src/driver/dock_drive_states.cpp
index b89eadf3..33853040 100644
--- a/src/driver/dock_drive_states.cpp
+++ b/src/driver/dock_drive_states.cpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/src/driver/dock_drive_states.cpp
+ * @file /kobuki_core/src/driver/dock_drive_states.cpp
  *
  * License: BSD
  *   https://raw.githubusercontent.com/kobuki-base/kobuki_core/license/LICENSE
@@ -9,7 +9,7 @@
 ** includes
 *****************************************************************************/
 
-#include "../../include/kobuki_driver/dock_drive.hpp"
+#include "../../include/kobuki_core/dock_drive.hpp"
 
 /*****************************************************************************
 ** Namespaces
diff --git a/src/driver/event_manager.cpp b/src/driver/event_manager.cpp
index 7cf4d371..3da788db 100644
--- a/src/driver/event_manager.cpp
+++ b/src/driver/event_manager.cpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/src/driver/event_manager.cpp
+ * @file /kobuki_core/src/driver/event_manager.cpp
  *
  * @brief Implementation of the event black magic.
  *
@@ -11,9 +11,9 @@
 ** Includes
 *****************************************************************************/
 
-#include "../../include/kobuki_driver/event_manager.hpp"
-#include "../../include/kobuki_driver/modules/battery.hpp"
-#include "../../include/kobuki_driver/packets/core_sensors.hpp"
+#include "../../include/kobuki_core/event_manager.hpp"
+#include "../../include/kobuki_core/modules/battery.hpp"
+#include "../../include/kobuki_core/packets/core_sensors.hpp"
 
 /*****************************************************************************
 ** Namespaces
diff --git a/src/driver/kobuki.cpp b/src/driver/kobuki.cpp
index 059f42a5..de5b8a3c 100644
--- a/src/driver/kobuki.cpp
+++ b/src/driver/kobuki.cpp
@@ -19,8 +19,8 @@
 #include <ecl/geometry/angle.hpp>
 #include <ecl/time/timestamp.hpp>
 #include <stdexcept>
-#include "../../include/kobuki_driver/kobuki.hpp"
-#include "../../include/kobuki_driver/packet_handler/payload_headers.hpp"
+#include "../../include/kobuki_core/kobuki.hpp"
+#include "../../include/kobuki_core/packet_handler/payload_headers.hpp"
 
 /*****************************************************************************
  ** Namespaces
diff --git a/src/driver/packet_finder.cpp b/src/driver/packet_finder.cpp
index f2ce43b0..3662631e 100644
--- a/src/driver/packet_finder.cpp
+++ b/src/driver/packet_finder.cpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/src/driver/packet_finder.cpp
+ * @file /kobuki_core/src/driver/packet_finder.cpp
  *
  * @brief Packet handling implementation.
  *
@@ -12,7 +12,7 @@
 *****************************************************************************/
 
 #include <sstream>
-#include "../../include/kobuki_driver/packet_handler/packet_finder.hpp"
+#include "../../include/kobuki_core/packet_handler/packet_finder.hpp"
 
 /*****************************************************************************
 ** Namespaces
diff --git a/src/driver/version_info.cpp.in b/src/driver/version_info.cpp.in
index 66906f63..a603fd56 100644
--- a/src/driver/version_info.cpp.in
+++ b/src/driver/version_info.cpp.in
@@ -1,11 +1,11 @@
-#include "kobuki_driver/version_info.hpp"
+#include "kobuki_core/version_info.hpp"
 
 namespace kobuki
 {
 
 std::string VersionInfo::getSoftwareVersion()
 {
-  return std::string("@kobuki_driver_VERSION@");
+  return std::string("@kobuki_core_VERSION@");
 }
 
 } //namespace kobuki
diff --git a/src/tools/CMakeLists.txt b/src/tools/CMakeLists.txt
index 7eccfd06..05d5e520 100644
--- a/src/tools/CMakeLists.txt
+++ b/src/tools/CMakeLists.txt
@@ -2,8 +2,8 @@
 # Macro
 ###############################################################################
 
-macro(kobuki_driver_add_tool name)
-  set(target_name kobuki_driver_tool_${name})
+macro(kobuki_core_add_tool name)
+  set(target_name kobuki_core_tool_${name})
   add_executable(${target_name} ${name}.cpp)
   target_link_libraries(${target_name}
     ${PROJECT_NAME}
@@ -24,5 +24,5 @@ endmacro()
 # Tools
 ###############################################################################
 
-kobuki_driver_add_tool(version_info)
-kobuki_driver_add_tool(simple_keyop)
+kobuki_core_add_tool(version_info)
+kobuki_core_add_tool(simple_keyop)
diff --git a/src/tools/simple_keyop.cpp b/src/tools/simple_keyop.cpp
index f241ab37..8d35159b 100644
--- a/src/tools/simple_keyop.cpp
+++ b/src/tools/simple_keyop.cpp
@@ -1,5 +1,5 @@
 /**
- * @file /kobuki_driver/src/tools/simple_keyop.cpp
+ * @file /kobuki_core/src/tools/simple_keyop.cpp
  *
  * @brief Tools/utility program to control robot by keyboard.
  *
@@ -21,7 +21,7 @@
 #include <ecl/exceptions.hpp>
 #include <ecl/linear_algebra.hpp>
 #include <ecl/geometry/legacy_pose2d.hpp>
-#include "kobuki_driver/kobuki.hpp"
+#include "kobuki_core/kobuki.hpp"
 
 /*****************************************************************************
 ** Classes
diff --git a/src/tools/version_info.cpp b/src/tools/version_info.cpp
index fbee9004..c74eb819 100644
--- a/src/tools/version_info.cpp
+++ b/src/tools/version_info.cpp
@@ -1,5 +1,5 @@
 /**                                                                           !
- * @file /kobuki_driver/src/tools/version_info.cpp
+ * @file /kobuki_core/src/tools/version_info.cpp
  *
  * @brief Tools/utility program to retriving version info. of kobuki.
  *
@@ -15,7 +15,7 @@
 #include <ecl/time.hpp>
 #include <ecl/sigslots.hpp>
 #include <ecl/command_line.hpp>
-#include "kobuki_driver/kobuki.hpp"
+#include "kobuki_core/kobuki.hpp"
 
 /*****************************************************************************
 ** Classes