diff --git a/realsense_camera/CMakeLists.txt b/realsense_camera/CMakeLists.txt
index a03a14c20d..e435ab63b1 100644
--- a/realsense_camera/CMakeLists.txt
+++ b/realsense_camera/CMakeLists.txt
@@ -96,26 +96,28 @@ add_dependencies(tests_rgbd_topics ${PROJECT_NAME}_generate_messages_cpp)
 add_dependencies(tests_rgbd_topics ${catkin_EXPORTED_TARGETS})
 
 # Install nodelet library
-install(TARGETS ${PROJECT_NAME}_nodelet LIBRARY
-    DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+install(TARGETS ${PROJECT_NAME}_nodelet
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
 # Install header files
-install(DIRECTORY include/
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/include
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
 # Install launch files
 install(DIRECTORY launch/
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
 )
 
 # Install rviz files
 install(DIRECTORY rviz/
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/rviz
 )
 
 # Install xml files
 install(FILES nodelet_plugins.xml
-    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
diff --git a/realsense_camera/include/base_nodelet.h b/realsense_camera/include/realsense_camera/base_nodelet.h
similarity index 99%
rename from realsense_camera/include/base_nodelet.h
rename to realsense_camera/include/realsense_camera/base_nodelet.h
index 27f900bc9e..5675df0ce3 100644
--- a/realsense_camera/include/base_nodelet.h
+++ b/realsense_camera/include/realsense_camera/base_nodelet.h
@@ -62,7 +62,7 @@
 #include <realsense_camera/cameraConfiguration.h>
 #include <pluginlib/class_list_macros.h>
 #include <tf/transform_broadcaster.h>
-#include "constants.h"
+#include <realsense_camera/constants.h>
 
 namespace realsense_camera
 {
diff --git a/realsense_camera/include/constants.h b/realsense_camera/include/realsense_camera/constants.h
similarity index 100%
rename from realsense_camera/include/constants.h
rename to realsense_camera/include/realsense_camera/constants.h
diff --git a/realsense_camera/include/f200_nodelet.h b/realsense_camera/include/realsense_camera/f200_nodelet.h
similarity index 96%
rename from realsense_camera/include/f200_nodelet.h
rename to realsense_camera/include/realsense_camera/f200_nodelet.h
index 7230a81823..485af573b3 100644
--- a/realsense_camera/include/f200_nodelet.h
+++ b/realsense_camera/include/realsense_camera/f200_nodelet.h
@@ -34,8 +34,8 @@
 
 #include <dynamic_reconfigure/server.h>
 
-#include "realsense_camera/f200_paramsConfig.h"
-#include "base_nodelet.h"
+#include <realsense_camera/f200_paramsConfig.h>
+#include <realsense_camera/base_nodelet.h>
 
 namespace realsense_camera
 {
diff --git a/realsense_camera/include/r200_nodelet.h b/realsense_camera/include/realsense_camera/r200_nodelet.h
similarity index 96%
rename from realsense_camera/include/r200_nodelet.h
rename to realsense_camera/include/realsense_camera/r200_nodelet.h
index fb84bc4aea..bc545d929e 100644
--- a/realsense_camera/include/r200_nodelet.h
+++ b/realsense_camera/include/realsense_camera/r200_nodelet.h
@@ -34,8 +34,8 @@
 
 #include <dynamic_reconfigure/server.h>
 
-#include "realsense_camera/r200_paramsConfig.h"
-#include "base_nodelet.h"
+#include <realsense_camera/r200_paramsConfig.h>
+#include <realsense_camera/base_nodelet.h>
 
 namespace realsense_camera
 {
diff --git a/realsense_camera/src/base_nodelet.cpp b/realsense_camera/src/base_nodelet.cpp
index 4666b9000d..7b36453cc7 100644
--- a/realsense_camera/src/base_nodelet.cpp
+++ b/realsense_camera/src/base_nodelet.cpp
@@ -28,7 +28,7 @@
  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *******************************************************************************/
 
-#include "base_nodelet.h"
+#include <realsense_camera/base_nodelet.h>
 
 using namespace cv;
 using namespace std;
diff --git a/realsense_camera/src/f200_nodelet.cpp b/realsense_camera/src/f200_nodelet.cpp
index a29910e65e..006aad6c74 100644
--- a/realsense_camera/src/f200_nodelet.cpp
+++ b/realsense_camera/src/f200_nodelet.cpp
@@ -28,7 +28,7 @@
  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *******************************************************************************/
 
-#include "f200_nodelet.h"
+#include <realsense_camera/f200_nodelet.h>
 
 PLUGINLIB_EXPORT_CLASS (realsense_camera::F200Nodelet, nodelet::Nodelet)
 
diff --git a/realsense_camera/src/r200_nodelet.cpp b/realsense_camera/src/r200_nodelet.cpp
index 2d6fc7bd07..810e9daacc 100644
--- a/realsense_camera/src/r200_nodelet.cpp
+++ b/realsense_camera/src/r200_nodelet.cpp
@@ -28,7 +28,7 @@
  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *******************************************************************************/
 
-#include "r200_nodelet.h"
+#include <realsense_camera/r200_nodelet.h>
 
 PLUGINLIB_EXPORT_CLASS (realsense_camera::R200Nodelet, nodelet::Nodelet)
 
diff --git a/realsense_camera/test/camera_core.cpp b/realsense_camera/test/camera_core.cpp
index e51b3aacde..4d911e3eb0 100644
--- a/realsense_camera/test/camera_core.cpp
+++ b/realsense_camera/test/camera_core.cpp
@@ -27,7 +27,7 @@
  OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
  OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  *******************************************************************************/
-#include "gtest/gtest.h"
+#include <gtest/gtest.h>
 #include "camera_core.h"
 
 using namespace std;
diff --git a/realsense_camera/test/camera_core.h b/realsense_camera/test/camera_core.h
index 4e77c93b15..80fc1ec444 100644
--- a/realsense_camera/test/camera_core.h
+++ b/realsense_camera/test/camera_core.h
@@ -40,19 +40,19 @@
 #include <image_transport/image_transport.h>
 
 #include <camera_info_manager/camera_info_manager.h>
-#include "std_msgs/String.h"
+#include <std_msgs/String.h>
 #include <ros/ros.h>
 #include <pcl/conversions.h>
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
 #include <pcl/PCLPointCloud2.h>
 #include <pcl_conversions/pcl_conversions.h>
-#include "std_msgs/Float32MultiArray.h"
+#include <std_msgs/Float32MultiArray.h>
 #include <cv_bridge/cv_bridge.h>
 #include <realsense_camera/cameraConfiguration.h>
 #include <tf/transform_listener.h>
 #include <librealsense/rs.h>
-#include "constants.h"
+#include <realsense_camera/constants.h>
 
 using namespace realsense_camera;