diff --git a/CMakeLists.txt b/CMakeLists.txt
index 03bad40..cb8e077 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,7 +29,7 @@ catkin_package(
   INCLUDE_DIRS
     include
   LIBRARIES
-    ur_hardware_interface
+    ur_rtde_hardware_interface
   CATKIN_DEPENDS
     actionlib
     control_msgs
@@ -71,10 +71,10 @@ include_directories(
 )
 
 # Hardware Interface
-add_library(ur_hardware_interface
+add_library(ur_rtde_hardware_interface
   src/ros/controller.cpp
   src/ros/hardware_interface.cpp)
-target_link_libraries(ur_hardware_interface ${catkin_LIBRARIES})
+target_link_libraries(ur_rtde_hardware_interface ${catkin_LIBRARIES})
 
 
 set(${PROJECT_NAME}_SOURCES
@@ -94,10 +94,10 @@ set(${PROJECT_NAME}_SOURCES
     src/ur/server.cpp
     src/ur/stream.cpp)
 
-add_executable(ur_driver ${${PROJECT_NAME}_SOURCES} src/ros_main.cpp)
-add_dependencies(ur_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-target_link_libraries(ur_driver
-  ur_hardware_interface
+add_executable(ur_rtde_driver ${${PROJECT_NAME}_SOURCES} src/ros_main.cpp)
+add_dependencies(ur_rtde_driver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+target_link_libraries(ur_rtde_driver
+  ur_rtde_hardware_interface
   ${catkin_LIBRARIES}
  )
 
@@ -105,7 +105,7 @@ target_link_libraries(ur_driver
 install(DIRECTORY config launch
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
-install(TARGETS ur_driver ur_hardware_interface
+install(TARGETS ur_rtde_driver ur_rtde_hardware_interface
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
@@ -124,5 +124,5 @@ if (CATKIN_ENABLE_TESTING)
     tests/ur/rt_state.cpp)
 
   catkin_add_gtest(ur_rtde_driver_test ${${PROJECT_NAME}_SOURCES} ${${PROJECT_NAME}_TEST_SOURCES} tests/main.cpp)
-  target_link_libraries(ur_rtde_driver_test ur_hardware_interface ${catkin_LIBRARIES})
+  target_link_libraries(ur_rtde_driver_test ur_rtde_hardware_interface ${catkin_LIBRARIES})
 endif()