diff --git a/.gitignore b/.gitignore
index 52fd6ce..7eaad6d 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,50 +1,2 @@
-build/
-bin/
-lib/
-msg_gen/
-srv_gen/
-msg/*Action.msg
-msg/*ActionFeedback.msg
-msg/*ActionGoal.msg
-msg/*ActionResult.msg
-msg/*Feedback.msg
-msg/*Goal.msg
-msg/*Result.msg
-msg/_*.py
-
-# Generated by dynamic reconfigure
-*.cfgc
-/cfg/cpp/
-/cfg/*.py
-
-# Ignore generated docs
-*.dox
-*.wikidoc
-
-# eclipse stuff
-.project
-.cproject
-
-# qcreator stuff
-CMakeLists.txt.user
-
-srv/_*.py
-*.pcd
-*.pyc
-qtcreator-*
-*.user
-
-/planning/cfg
-/planning/docs
-/planning/src
-
-*~
-
-# Emacs
-.#*
-
-# Catkin custom files
-CATKIN_IGNORE
-
 # Output meshes
-bezier_library/meshes/*.stl
+meshes/*.stl
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 64f2cca..d609eae 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,6 +1,8 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.2)
 project(bezier)
-add_definitions(-std=c++11 -Wall -Wextra)
+add_compile_options(-Wall -Wextra)
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 ## Find catkin macros and libraries
 find_package(catkin REQUIRED COMPONENTS
@@ -26,7 +28,6 @@ endif()
 catkin_package(
   INCLUDE_DIRS
   include
-  ${PCL_INCLUDE_DIRS}
   LIBRARIES
   ${PROJECT_NAME}
   ${PROJECT_NAME}_painting
@@ -54,7 +55,7 @@ add_definitions(${PCL_DEFINITIONS})
 # Bezier library
 add_library(
   ${PROJECT_NAME}
-  src/${PROJECT_NAME}.cpp
+  src/${PROJECT_NAME}_library.cpp
 )
 target_link_libraries(
   ${PROJECT_NAME}
@@ -70,7 +71,7 @@ add_dependencies(
 # Bezier surfacing
 add_library(
   ${PROJECT_NAME}_surfacing
-  src/bezier_surfacing.cpp
+  src/surfacing.cpp
 )
 target_link_libraries(
   ${PROJECT_NAME}_surfacing
@@ -88,7 +89,7 @@ add_dependencies(
 # Bezier painting
 add_library(
   ${PROJECT_NAME}_painting
-  src/bezier_painting.cpp
+  src/painting.cpp
 )
 target_link_libraries(
   ${PROJECT_NAME}_painting
@@ -106,7 +107,7 @@ add_dependencies(
 # Tire machining
 add_library(
   ${PROJECT_NAME}_tire_machining
-  src/bezier_tire_machining.cpp
+  src/tire_machining.cpp
 )
 target_link_libraries(
   ${PROJECT_NAME}_tire_machining
@@ -137,14 +138,22 @@ install(TARGETS
 )
 
 ## Mark cpp header files for installation
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+install(
+  DIRECTORY
+  include/${PROJECT_NAME}/
+  DESTINATION
+  ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
 ## Mark other files for installation (e.g. launch and bag files, etc.)
-install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(
+  DIRECTORY
+  meshes
+  DESTINATION
+  ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
 
 add_custom_target(
   ${PROJECT_NAME}_doc
-  rosdoc_lite -o ${CATKIN_DEVEL_PREFIX}/doc/${PROJECT_NAME} ${CATKIN_DEVEL_PREFIX}/../src/bezier/${PROJECT_NAME}
+  rosdoc_lite -o ${CATKIN_DEVEL_PREFIX}/doc/${PROJECT_NAME} ${CATKIN_DEVEL_PREFIX}/../src/${PROJECT_NAME}
 )
diff --git a/README.md b/README.md
index ea4b72b..a205c88 100644
--- a/README.md
+++ b/README.md
@@ -18,21 +18,28 @@ It is able to create rectilinear trajectories on complex surfaces (3D surfaces)
 Click the image to see a video of a Fanuc robot grinding thanks to the Bezier library.
 
 # Dependencies
-This package has been tested with Ubuntu 16.04 and ROS Kinetic.
+This package has been tested with Ubuntu 18.04 and ROS Melodic.
 
-## VTK 7.1
+## VTK
 VTK 7.1 or higher is required in order to compile this project.
 
-Here are quick steps to download, compile and install VTK 7.1:
+Here are quick steps to download, compile and install VTK latest release:
 
 ```bash
-mkdir -p $HOME/libraries/VTK-7.1/build_release
-cd $HOME/libraries/VTK-7.1/
-wget http://www.vtk.org/files/release/7.1/VTK-7.1.1.zip
-unzip VTK-7.1.1.zip
-mv VTK-7.1.1 src
+sudo apt install -y cmake libglew-dev libxt-dev libqt5x11extras5-dev qttools5-dev
+mkdir -p $HOME/libraries/VTK-8.2.0/build_release
+cd $HOME/libraries/VTK-8.2.0
+wget http://www.vtk.org/files/release/8.2/VTK-8.2.0.zip
+unzip VTK-8.2.0.zip
+mv VTK-8.2.0 src
 cd build_release
-cmake ../src -DCMAKE_BUILD_TYPE=Release
+cmake ../src \
+-DCMAKE_BUILD_TYPE=Release \
+-DVTK_Group_Imaging=ON \
+-DVTK_Group_Qt=ON \
+-DVTK_QT_VERSION=5 \
+-DVTK_Group_Rendering=ON \
+-DVTK_Group_Views=ON
 make -j4
 ```
 
@@ -42,9 +49,6 @@ sudo make -j4 install
 sudo ldconfig
 ```
 
-## wstool
-Install [wstool](wiki.ros.org/wstool).
-
 ## rosdep
 Install, initialize and update [rosdep](http://wiki.ros.org/rosdep).
 
@@ -52,16 +56,16 @@ Install, initialize and update [rosdep](http://wiki.ros.org/rosdep).
 Create a catkin workspace and clone the project:
 
 ```bash
-mkdir -p catkin_workspace
-cd catkin_workspace
+mkdir -p catkin_workspace/src
+cd catkin_workspace/src
 git clone https://github.com/ros-industrial-consortium/bezier.git
-wstool init src bezier/bezier.rosinstall
-mv bezier src
+cd ..
+
 ```
 
 ## Resolve ROS dependencies
 ```bash
-rosdep install --from-paths src --ignore-src --rosdistro kinetic -y
+rosdep install --from-paths src --ignore-src --rosdistro melodic -y
 ```
 
 ## Compile
diff --git a/bezier.rosinstall b/bezier.rosinstall
deleted file mode 100644
index 24fb5e8..0000000
--- a/bezier.rosinstall
+++ /dev/null
@@ -1,4 +0,0 @@
-- git: {local-name: rviz_visual_tools, uri: 'https://github.com/davetcoleman/rviz_visual_tools.git',
-    version: kinetic-devel}
-- git: {local-name: fanuc, uri: 'https://github.com/ros-industrial/fanuc.git',
-    version: indigo-devel}
diff --git a/doc/README.md b/doc/README.md
index 145fe29..8ced998 100644
--- a/doc/README.md
+++ b/doc/README.md
@@ -1,11 +1,14 @@
-How to build the API documentation
-===
+# How to build the API documentation
+
+Install rosdoc_lite:
+```
+sudo apt install ros-$ROS_DISTRO-rosdoc-lite
+```
+
+Generate the API documentation:
 ```bash
-cd $(catkin_workspace)/build
-make bezier_library_doc
+catkin_make bezier_doc
 ```
-List of classes inside Bezier
-===
 
+# Documented classes of Bezier
 - [bezier_grinding_surfacing](README_bezier_grinding_surfacing.md)
-
diff --git a/doc/rosdoc.yaml b/doc/rosdoc.yaml
index 956a263..21db01a 100644
--- a/doc/rosdoc.yaml
+++ b/doc/rosdoc.yaml
@@ -1,4 +1,4 @@
  - builder: doxygen
-   name: bezier_library C++ API
-   output_dir: bezier_library_c++
+   name: bezier C++ API
+   output_dir: bezier_c++
    file_patterns: '*.c *.cpp *.h *.hpp'
diff --git a/include/bezier_library/append_bezier_exception.hpp b/include/bezier/append_bezier_exception.hpp
similarity index 85%
rename from include/bezier_library/append_bezier_exception.hpp
rename to include/bezier/append_bezier_exception.hpp
index d81af8e..b6cb4f9 100644
--- a/include/bezier_library/append_bezier_exception.hpp
+++ b/include/bezier/append_bezier_exception.hpp
@@ -1,5 +1,5 @@
-#ifndef APPEND_BEZIER_EXCEPTION
-#define APPEND_BEZIER_EXCEPTION
+#ifndef APPEND_BEZIER_EXCEPTION_HPP
+#define APPEND_BEZIER_EXCEPTION_HPP
 
 #include <iostream>
 #include <exception>
diff --git a/include/bezier_library/bezier_library.hpp b/include/bezier/bezier_library.hpp
similarity index 99%
rename from include/bezier_library/bezier_library.hpp
rename to include/bezier/bezier_library.hpp
index 04a1ed6..c28cdd9 100644
--- a/include/bezier_library/bezier_library.hpp
+++ b/include/bezier/bezier_library.hpp
@@ -37,7 +37,7 @@
 #include <vtkPointData.h>
 #include <vtkPolyDataConnectivityFilter.h>
 #include <vtkAppendPolyData.h>
-#include "error_observer.h"
+#include <bezier/error_observer.hpp>
 
 // PCL
 #pragma GCC diagnostic push
diff --git a/include/bezier_library/error_observer.h b/include/bezier/error_observer.hpp
similarity index 97%
rename from include/bezier_library/error_observer.h
rename to include/bezier/error_observer.hpp
index ca9eefb..d1ed11f 100644
--- a/include/bezier_library/error_observer.h
+++ b/include/bezier/error_observer.hpp
@@ -1,5 +1,5 @@
-#ifndef ErrorObserver_h
-#define ErrorObserver_h
+#ifndef ERROR_OBSERVER_HPP
+#define ERROR_OBSERVER_HPP
 
 #include <string>
 #include <vtkCommand.h>
diff --git a/include/bezier_library/bezier_grinding_surfacing.hpp b/include/bezier/grinding_surfacing.hpp
similarity index 97%
rename from include/bezier_library/bezier_grinding_surfacing.hpp
rename to include/bezier/grinding_surfacing.hpp
index 8157320..7978b14 100644
--- a/include/bezier_library/bezier_grinding_surfacing.hpp
+++ b/include/bezier/grinding_surfacing.hpp
@@ -1,8 +1,8 @@
 #ifndef BEZIER_GRINDING_SURFACING_HPP
 #define BEZIER_GRINDING_SURFACING_HPP
 
-#include <bezier_library/bezier_library.hpp>
-#include <bezier_library/bezier_params_observer.hpp>
+#include <bezier/bezier_library.hpp>
+#include <bezier/params_observer.hpp>
 #include <ros/package.h>
 #include <memory>
 
diff --git a/include/bezier_library/bezier_painting.hpp b/include/bezier/painting.hpp
similarity index 98%
rename from include/bezier_library/bezier_painting.hpp
rename to include/bezier/painting.hpp
index 4b2a4f8..c412161 100644
--- a/include/bezier_library/bezier_painting.hpp
+++ b/include/bezier/painting.hpp
@@ -1,7 +1,7 @@
 #ifndef BEZIER_PAINTING_HPP
 #define BEZIER_PAINTING_HPP
 
-#include <bezier_library/bezier_library.hpp>
+#include <bezier/bezier_library.hpp>
 #include <ros/package.h>
 #include <memory>
 
diff --git a/include/bezier_library/bezier_params_observer.hpp b/include/bezier/params_observer.hpp
similarity index 99%
rename from include/bezier_library/bezier_params_observer.hpp
rename to include/bezier/params_observer.hpp
index 1e0e9b3..63f5ac0 100644
--- a/include/bezier_library/bezier_params_observer.hpp
+++ b/include/bezier/params_observer.hpp
@@ -1,7 +1,7 @@
 #ifndef BEZIER_PARAMS_OBSERVER_HPP
 #define BEZIER_PARAMS_OBSERVER_HPP
 
-#include <bezier_library/bezier_library.hpp>
+#include <bezier/bezier_library.hpp>
 
 /**
  * Bezier parameters observer class
diff --git a/include/bezier_library/bezier_tire_machining.hpp b/include/bezier/tire_machining.hpp
similarity index 98%
rename from include/bezier_library/bezier_tire_machining.hpp
rename to include/bezier/tire_machining.hpp
index 70c4901..44adfcf 100644
--- a/include/bezier_library/bezier_tire_machining.hpp
+++ b/include/bezier/tire_machining.hpp
@@ -1,7 +1,7 @@
 #ifndef BEZIER_TIRE_MACHINING_HPP
 #define BEZIER_TIRE_MACHINING_HPP
 
-#include <bezier_library/bezier_library.hpp>
+#include <bezier/bezier_library.hpp>
 #include <ros/package.h>
 #include <memory>
 
diff --git a/package.xml b/package.xml
index 61d446a..f0acc65 100644
--- a/package.xml
+++ b/package.xml
@@ -3,7 +3,7 @@
   <name>bezier</name>
   <version>0.0.3</version>
   <description>Robot path planner for complex 6 DOF surfacing trajectories</description>
-  <author>Francois Lasson, Kévin Bolloré, Papa Libasse Sow - Institut Maupertuis</author>
+  <author>Francois Lasson, Kévin Bolloré, Papa Libasse Sow, Victor Lamoine - Institut Maupertuis</author>
   <maintainer email="victor.lamoine@gmail.com">Victor Lamoine</maintainer>
   <license>BSD</license>
 
diff --git a/src/bezier_library.cpp b/src/bezier_library.cpp
index 047fe18..448cc3d 100644
--- a/src/bezier_library.cpp
+++ b/src/bezier_library.cpp
@@ -1,4 +1,4 @@
-#include <bezier_library/bezier_library.hpp>
+#include <bezier/bezier_library.hpp>
 
 Bezier::Bezier()
 {
diff --git a/src/bezier_painting.cpp b/src/painting.cpp
similarity index 99%
rename from src/bezier_painting.cpp
rename to src/painting.cpp
index d4cce85..453938f 100644
--- a/src/bezier_painting.cpp
+++ b/src/painting.cpp
@@ -1,4 +1,4 @@
-#include "bezier_library/bezier_painting.hpp"
+#include "bezier/painting.hpp"
 
 BezierPainting::BezierPainting(const std::string input_mesh,
                                const double painting_cone_width,
diff --git a/src/bezier_surfacing.cpp b/src/surfacing.cpp
similarity index 98%
rename from src/bezier_surfacing.cpp
rename to src/surfacing.cpp
index 5f6fda9..6319ab7 100644
--- a/src/bezier_surfacing.cpp
+++ b/src/surfacing.cpp
@@ -1,5 +1,5 @@
-#include "bezier_library/bezier_grinding_surfacing.hpp"
-#include "bezier_library/bezier_params_observer.hpp"
+#include "bezier/grinding_surfacing.hpp"
+#include "bezier/params_observer.hpp"
 
 BezierGrindingSurfacing::BezierGrindingSurfacing(const std::string input_mesh,
                                                  const double grinding_disk_machining_width,
@@ -93,7 +93,7 @@ std::string BezierGrindingSurfacing::generateTrajectory(EigenSTL::vector_Isometr
 
   if (display_markers)
   {
-    std::string mesh_path(ros::package::getPath("bezier_library") + "/meshes/dilated_mesh.stl");
+    std::string mesh_path(ros::package::getPath("bezier") + "/meshes/dilated_mesh.stl");
 
     if (saveMesh(mesh_path, dilated_mesh))
     {
@@ -107,7 +107,7 @@ std::string BezierGrindingSurfacing::generateTrajectory(EigenSTL::vector_Isometr
 
   if (display_markers)
   {
-    std::string mesh_path(ros::package::getPath("bezier_library") + "/meshes/extrication_mesh.stl");
+    std::string mesh_path(ros::package::getPath("bezier") + "/meshes/extrication_mesh.stl");
 
     if (saveMesh(mesh_path, extrication_mesh))
     {
diff --git a/src/bezier_tire_machining.cpp b/src/tire_machining.cpp
similarity index 99%
rename from src/bezier_tire_machining.cpp
rename to src/tire_machining.cpp
index 887c113..8e69b03 100644
--- a/src/bezier_tire_machining.cpp
+++ b/src/tire_machining.cpp
@@ -1,4 +1,4 @@
-#include "bezier_library/bezier_tire_machining.hpp"
+#include "bezier/tire_machining.hpp"
 #include <vtkCleanPolyData.h>
 #include <vtkWarpVector.h>