diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6f4bc7d..61134aa 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -61,3 +61,17 @@ target_link_libraries(rf2o_laser_odometry_node
    ${EIGEN_LIBRARIES}
    ${MRPT_LIBS}
 )
+
+#############
+## Install ##
+#############
+
+install(TARGETS rf2o_laser_odometry_node
+   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
diff --git a/src/CLaserOdometry2D.cpp b/src/CLaserOdometry2D.cpp
index 60e2ee5..6607506 100644
--- a/src/CLaserOdometry2D.cpp
+++ b/src/CLaserOdometry2D.cpp
@@ -282,7 +282,7 @@ void CLaserOdometry2D::odometryCalculation()
     }
 
     m_runtime = 1000*m_clock.Tac();
-    ROS_INFO("Time odometry (ms): %f", m_runtime);
+    ROS_DEBUG("Time odometry (ms): %f", m_runtime);
 
     //Update poses
     PoseUpdate();
@@ -950,7 +950,7 @@ void CLaserOdometry2D::PoseUpdate()
 	kai_loc_old(2) = kai_abs(2);
 
 
-    ROS_INFO("LASERodom = [%f %f %f]",laser_pose.x(),laser_pose.y(),laser_pose.yaw());
+    ROS_DEBUG("LASERodom = [%f %f %f]",laser_pose.x(),laser_pose.y(),laser_pose.yaw());
 
 
     // GET ROBOT POSE from LASER POSE
@@ -981,7 +981,7 @@ void CLaserOdometry2D::PoseUpdate()
 
     //Compose Transformations
     robot_pose = laser_pose + LaserPoseOnTheRobot_inv;
-    ROS_INFO("BASEodom = [%f %f %f]",robot_pose.x(),robot_pose.y(),robot_pose.yaw());
+    ROS_DEBUG("BASEodom = [%f %f %f]",robot_pose.x(),robot_pose.y(),robot_pose.yaw());
 
 
     // Estimate linear/angular speeds (mandatory for base_local_planner)