diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4047ae502afa82d55435954f31597272f7cef72e..b60760da4eff0fde59e27af6201d722034b7796d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,71 +3,59 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
 
 include(FindPkgConfig)
 
-# Set the build type.  Options are:
-#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
-#  Debug          : w/ debug symbols, w/o optimization
-#  Release        : w/o debug symbols, w/ optimization
-#  RelWithDebInfo : w/ debug symbols, w/ optimization
-#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
-#set(ROS_BUILD_TYPE RelWithDebInfo)
+set(ROS_BUILD_TYPE RelWithDebInfo)
 
 rosbuild_init()
 
-#set the default path for built executables to the "bin" directory
 set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-#set the default path for built libraries to the "lib" directory
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
-#uncomment if you have defined messages
 rosbuild_genmsg()
-#uncomment if you have defined services
-#rosbuild_gensrv()
 
 rosbuild_add_boost_directories()
 
-#common commands for building c++ executables and libraries
-#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
-#target_link_libraries(${PROJECT_NAME} another_library)
-#rosbuild_add_boost_directories()
-#rosbuild_link_boost(${PROJECT_NAME} thread)
-#rosbuild_add_executable(example examples/example.cpp)
-#target_link_libraries(example ${PROJECT_NAME})
-
 pkg_check_modules(JRL_MAL REQUIRED jrl-mal)
 pkg_check_modules(DYNAMIC_GRAPH REQUIRED dynamic-graph)
 pkg_check_modules(SOT_CORE REQUIRED sot-core)
 
-rosbuild_add_library(ros_import
-  src/sot_to_ros.cpp
-  src/ros_import.cpp src/ros_import.hh src/converter.hh src/sot_to_ros.hh)
+rosbuild_add_library(ros_bridge
+  src/converter.hh
+  src/ros_init.hh src/ros_init.cpp
+  src/sot_to_ros.hh src/sot_to_ros.cpp
+  )
+
+rosbuild_add_library(ros_import src/ros_import.cpp src/ros_import.hh)
 rosbuild_add_compile_flags(ros_import ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS}
   ${SOT_CORE_CFLAGS})
 rosbuild_add_link_flags(ros_import ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS}
   ${SOT_CORE_LDFLAGS})
+target_link_libraries(ros_import ros_bridge)
 target_link_libraries(ros_import
   ${JRL_MAL_LIBRARIES} ${DYNAMIC_GRAPH_LIBRARIES} ${SOT_CORE_LIBRARIES})
 
-rosbuild_add_library(ros_export
-  src/sot_to_ros.cpp
-  src/ros_export.cpp src/ros_export.hh src/converter.hh src/sot_to_ros.hh)
+rosbuild_add_library(ros_export src/ros_export.cpp src/ros_export.hh)
 rosbuild_add_compile_flags(ros_export ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS}
   ${SOT_CORE_CFLAGS})
 rosbuild_add_link_flags(ros_export ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS}
   ${SOT_CORE_LDFLAGS})
+target_link_libraries(ros_export ros_bridge)
 target_link_libraries(ros_export
   ${JRL_MAL_LIBRARIES} ${DYNAMIC_GRAPH_LIBRARIES} ${SOT_CORE_LIBRARIES})
 
 rosbuild_add_library(ros_joint_state
-  src/ros_joint_state.cpp src/ros_joint_state.hh src/converter.hh src/sot_to_ros.hh)
-rosbuild_add_compile_flags(ros_joint_state ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS}
+  src/ros_joint_state.cpp src/ros_joint_state)
+rosbuild_add_compile_flags(ros_joint_state
+  ${JRL_MAL_CFLAGS} ${DYNAMIC_GRAPH_CFLAGS}
   ${SOT_CORE_CFLAGS})
-rosbuild_add_link_flags(ros_joint_state ${JRL_MAL_LDFLAGS} ${DYNAMIC_GRAPH_LDFLAGS}
-  ${SOT_CORE_LDFLAGS})
+rosbuild_add_link_flags(ros_joint_state ${JRL_MAL_LDFLAGS}
+  ${DYNAMIC_GRAPH_LDFLAGS} ${SOT_CORE_LDFLAGS})
+target_link_libraries(ros_joint_state ros_bridge)
 target_link_libraries(ros_joint_state
   ${JRL_MAL_LIBRARIES} ${DYNAMIC_GRAPH_LIBRARIES} ${SOT_CORE_LIBRARIES})
 
 
 
+INSTALL(TARGETS ros_bridge DESTINATION lib)
 INSTALL(TARGETS ros_import DESTINATION lib)
 INSTALL(TARGETS ros_export DESTINATION lib)
 INSTALL(TARGETS ros_joint_state DESTINATION lib)
diff --git a/src/ros_export.cpp b/src/ros_export.cpp
index f5f6e531bf7191e6871e167fe8d496b74d756c75..3f86275ee66cf71d364896f31c2e3f433c19acc1 100644
--- a/src/ros_export.cpp
+++ b/src/ros_export.cpp
@@ -9,6 +9,7 @@
 
 #include <dynamic-graph/factory.h>
 
+#include "ros_init.hh"
 #include "ros_export.hh"
 
 namespace dynamicgraph
@@ -112,17 +113,6 @@ namespace dynamicgraph
     } // end of errorEstimator.
   } // end of namespace command.
 
-
-  const char* rosInit()
-  {
-    int argc = 1;
-    char* arg0 = strdup("ros_export");
-    char* argv[] = {arg0, 0};
-    ros::init(argc, argv, "ros_export");
-    free (arg0);
-    return "dynamic_graph";
-  }
-
   RosExport::RosExport (const std::string& n)
     : dynamicgraph::Entity(n),
       nh_ (rosInit ()),
diff --git a/src/ros_import.cpp b/src/ros_import.cpp
index 556c69c959b0850a8100c73dbb71406623589f81..1a8af285471728801c639b9446c59f5af4f4e9d0 100644
--- a/src/ros_import.cpp
+++ b/src/ros_import.cpp
@@ -13,6 +13,7 @@
 #include <dynamic-graph/factory.h>
 #include <dynamic-graph/command.h>
 
+#include "ros_init.hh"
 #include "ros_import.hh"
 
 namespace dynamicgraph
@@ -115,17 +116,6 @@ namespace dynamicgraph
     } // end of errorEstimator.
   } // end of namespace command.
 
-
-  const char* rosInit()
-  {
-    int argc = 1;
-    char* arg0 = strdup("ros_import");
-    char* argv[] = {arg0, 0};
-    ros::init(argc, argv, "ros_import");
-    free (arg0);
-    return "dynamic_graph";
-  }
-
   RosImport::RosImport (const std::string& n)
     : dynamicgraph::Entity(n),
       nh_ (rosInit ()),