diff --git a/CHANGELOG.rst b/CHANGELOG.rst
index ee7e1c2576981bdd6e2f2f3ea5753759ccaaaa7f..53ad70bf35a83184be2d37d8837e053b3876aae8 100644
--- a/CHANGELOG.rst
+++ b/CHANGELOG.rst
@@ -2,6 +2,11 @@
 Changelog for package homer_navigation
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.1.5 (2016-11-04)
+------------------
+* fixed dependencies
+* Contributors: Niklas Yann Wettengel
+
 0.1.4 (2016-11-03)
 ------------------
 * fixes
diff --git a/CMakeLists.txt b/CMakeLists.txt
index f68d5b3b61b50bd374ce7a033dfacfa9497d6aff..0d5bda2ddbb6e746e60c794acf7e937b5a698917 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(catkin REQUIRED COMPONENTS
   homer_nav_libs
   tf
   cmake_modules
+  homer_ptu_msgs
 )
 
 find_package(Eigen3 REQUIRED)
diff --git a/debian/changelog b/debian/changelog
deleted file mode 100644
index 21cab88d3411fbdc72ba42f9dc0ac8a47b1d02bf..0000000000000000000000000000000000000000
--- a/debian/changelog
+++ /dev/null
@@ -1,30 +0,0 @@
-ros-kinetic-homer-navigation (0.1.4-0xenial) xenial; urgency=high
-
-  * fixes
-  * updated changelog
-  * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de>  Wed, 02 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.3-0xenial) xenial; urgency=high
-
-
-
- -- Viktor Seib <vseib@uni-koblenz.de>  Wed, 02 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.2-0xenial) xenial; urgency=high
-
-  * install launch files
-  * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de>  Wed, 02 Nov 2016 23:00:00 -0000
-
-ros-kinetic-homer-navigation (0.1.1-0xenial) xenial; urgency=high
-
-  * fixes
-  * initial commit
-  * Contributors: Niklas Yann Wettengel
-
- -- Viktor Seib <vseib@uni-koblenz.de>  Wed, 02 Nov 2016 23:00:00 -0000
-
-
diff --git a/debian/changelog.em b/debian/changelog.em
new file mode 100644
index 0000000000000000000000000000000000000000..f288616383fe8f4543f2eb312541c6588cb3d96c
--- /dev/null
+++ b/debian/changelog.em
@@ -0,0 +1,7 @@
+@[for change_version, change_date, changelog, main_name, main_email in changelogs]@(Package) (@(change_version)-@(DebianInc)@(Distribution)) @(Distribution); urgency=high
+
+@(changelog)
+
+ -- @(main_name) <@(main_email)>  @(change_date)
+
+@[end for]
diff --git a/debian/compat b/debian/compat
deleted file mode 100644
index f11c82a4cb6cc2e8f3bdf52b5cdeaad4d5bb214e..0000000000000000000000000000000000000000
--- a/debian/compat
+++ /dev/null
@@ -1 +0,0 @@
-9
\ No newline at end of file
diff --git a/debian/compat.em b/debian/compat.em
new file mode 100644
index 0000000000000000000000000000000000000000..b7f8528bffbd06395de8fb99042c25b1448f311a
--- /dev/null
+++ b/debian/compat.em
@@ -0,0 +1 @@
+@(debhelper_version)
\ No newline at end of file
diff --git a/debian/control b/debian/control
deleted file mode 100644
index aec2066001edb16017cfada8a17ce49b01f4d582..0000000000000000000000000000000000000000
--- a/debian/control
+++ /dev/null
@@ -1,12 +0,0 @@
-Source: ros-kinetic-homer-navigation
-Section: misc
-Priority: extra
-Maintainer: Viktor Seib <vseib@uni-koblenz.de>
-Build-Depends: debhelper (>= 9.0.0), libeigen3-dev, ros-kinetic-catkin, ros-kinetic-cmake-modules, ros-kinetic-homer-mapnav-msgs, ros-kinetic-homer-nav-libs, ros-kinetic-homer-robbie-architecture, ros-kinetic-nav-msgs, ros-kinetic-roscpp, ros-kinetic-roslib, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs, ros-kinetic-tf
-Homepage: 
-Standards-Version: 3.9.2
-
-Package: ros-kinetic-homer-navigation
-Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, ros-kinetic-homer-mapnav-msgs, ros-kinetic-homer-nav-libs, ros-kinetic-homer-robbie-architecture, ros-kinetic-nav-msgs, ros-kinetic-roscpp, ros-kinetic-roslib, ros-kinetic-sensor-msgs, ros-kinetic-std-msgs, ros-kinetic-tf
-Description: The homer_navigation package
diff --git a/debian/control.em b/debian/control.em
new file mode 100644
index 0000000000000000000000000000000000000000..7cbf65a6a90b7b5f71439e8067643e802e54f540
--- /dev/null
+++ b/debian/control.em
@@ -0,0 +1,14 @@
+Source: @(Package)
+Section: misc
+Priority: extra
+Maintainer: @(Maintainer)
+Build-Depends: debhelper (>= @(debhelper_version).0.0), @(', '.join(BuildDepends))
+Homepage: @(Homepage)
+Standards-Version: 3.9.2
+
+Package: @(Package)
+Architecture: any
+Depends: ${shlibs:Depends}, ${misc:Depends}, @(', '.join(Depends))
+@[if Conflicts]Conflicts: @(', '.join(Conflicts))@\n@[end if]@
+@[if Replaces]Replaces: @(', '.join(Replaces))@\n@[end if]@
+Description: @(Description)
diff --git a/debian/gbp.conf b/debian/gbp.conf
deleted file mode 100644
index 1df7e05464cb8f6f3bee3669c2164b78ae13af5e..0000000000000000000000000000000000000000
--- a/debian/gbp.conf
+++ /dev/null
@@ -1,3 +0,0 @@
-[git-buildpackage]
-upstream-tag=release/kinetic/homer_navigation/0.1.4-0
-upstream-tree=tag
diff --git a/debian/gbp.conf.em b/debian/gbp.conf.em
new file mode 100644
index 0000000000000000000000000000000000000000..ad24a164d06a7971a9dcca990e935fea39b6ce88
--- /dev/null
+++ b/debian/gbp.conf.em
@@ -0,0 +1,3 @@
+[git-buildpackage]
+upstream-tag=@(release_tag)
+upstream-tree=tag
diff --git a/debian/rules b/debian/rules.em
similarity index 76%
rename from debian/rules
rename to debian/rules.em
index d97f2ecbe2e5158f91889dc8000a7cbb14a881cf..991c991b8775b882ef271fcac740ace8675e7538 100755
--- a/debian/rules
+++ b/debian/rules.em
@@ -14,29 +14,29 @@ export DH_OPTIONS=-v --buildsystem=cmake
 #  https://code.ros.org/trac/ros/ticket/2977
 #  https://code.ros.org/trac/ros/ticket/3842
 export LDFLAGS=
-export PKG_CONFIG_PATH=/opt/ros/kinetic/lib/pkgconfig
+export PKG_CONFIG_PATH=@(InstallationPrefix)/lib/pkgconfig
 # Explicitly enable -DNDEBUG, see:
 # 	https://github.com/ros-infrastructure/bloom/issues/327
 export DEB_CXXFLAGS_MAINT_APPEND=-DNDEBUG
 
 %:
-	dh  $@
+	dh  $@@
 
 override_dh_auto_configure:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree that was dropped by catkin, and source it.  It will
 	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_configure -- \
 		-DCATKIN_BUILD_BINARY_PACKAGE="1" \
-		-DCMAKE_INSTALL_PREFIX="/opt/ros/kinetic" \
-		-DCMAKE_PREFIX_PATH="/opt/ros/kinetic"
+		-DCMAKE_INSTALL_PREFIX="@(InstallationPrefix)" \
+		-DCMAKE_PREFIX_PATH="@(InstallationPrefix)"
 
 override_dh_auto_build:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree that was dropped by catkin, and source it.  It will
 	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_build
 
 override_dh_auto_test:
@@ -44,19 +44,19 @@ override_dh_auto_test:
 	# in the install tree that was dropped by catkin, and source it.  It will
 	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
 	echo -- Running tests. Even if one of them fails the build is not canceled.
-	if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_test || true
 
 override_dh_shlibdeps:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree that was dropped by catkin, and source it.  It will
 	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
-	dh_shlibdeps -l$(CURDIR)/debian/ros-kinetic-homer-navigation//opt/ros/kinetic/lib/
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
+	dh_shlibdeps -l$(CURDIR)/debian/@(Package)/@(InstallationPrefix)/lib/
 
 override_dh_auto_install:
 	# In case we're installing to a non-standard location, look for a setup.sh
 	# in the install tree that was dropped by catkin, and source it.  It will
 	# set things like CMAKE_PREFIX_PATH, PKG_CONFIG_PATH, and PYTHONPATH.
-	if [ -f "/opt/ros/kinetic/setup.sh" ]; then . "/opt/ros/kinetic/setup.sh"; fi && \
+	if [ -f "@(InstallationPrefix)/setup.sh" ]; then . "@(InstallationPrefix)/setup.sh"; fi && \
 	dh_auto_install
diff --git a/package.xml b/package.xml
index 3c9c863727659d1d1d6ed18a1f1d272eb9202334..e76263aa013efdb20be3744d59026f9c6278fa1b 100644
--- a/package.xml
+++ b/package.xml
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>homer_navigation</name>
-  <version>0.1.4</version>
+  <version>0.1.5</version>
   <description>The homer_navigation package</description>
 
   <maintainer email="vseib@uni-koblenz.de">Viktor Seib</maintainer>
@@ -22,6 +22,7 @@
   <build_depend>tf</build_depend>
   <build_depend>cmake_modules</build_depend>
   <build_depend>eigen</build_depend>
+  <build_depend>homer_ptu_msgs</build_depend>
   
   <run_depend>roscpp</run_depend>
   <run_depend>roslib</run_depend>
@@ -32,5 +33,7 @@
   <run_depend>homer_mapnav_msgs</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>tf</run_depend>
+  <run_depend>eigen</run_depend>
+  <run_depend>homer_ptu_msgs</run_depend>
 
 </package>