diff --git a/odom_estimator/CMakeLists.txt b/odom_estimator/CMakeLists.txt
index 6843160..d6343ad 100644
--- a/odom_estimator/CMakeLists.txt
+++ b/odom_estimator/CMakeLists.txt
@@ -4,7 +4,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(odom_estimator)
 # Load catkin and all dependencies required for this package
 # TODO: remove all from COMPONENTS that are not catkin packages.
-find_package(catkin REQUIRED COMPONENTS roscpp pluginlib sensor_msgs eigen_conversions geometry_msgs tf nodelet tf_conversions std_msgs message_generation cmake_modules uf_common)
+find_package(catkin REQUIRED COMPONENTS roscpp pluginlib sensor_msgs eigen_conversions geometry_msgs tf nodelet tf_conversions std_msgs message_generation cmake_modules mil_msgs)
 # CATKIN_MIGRATION: removed during catkin migration
 # cmake_minimum_required(VERSION 2.4.6)
 
@@ -55,7 +55,7 @@ generate_messages(
 # TODO: fill in what other packages will need to use this package
 catkin_package(
     DEPENDS Eigen # TODO
-    CATKIN_DEPENDS roscpp pluginlib sensor_msgs eigen_conversions geometry_msgs tf uf_common nodelet tf_conversions std_msgs message_runtime
+    CATKIN_DEPENDS roscpp pluginlib sensor_msgs eigen_conversions geometry_msgs tf mil_msgs nodelet tf_conversions std_msgs message_runtime
     INCLUDE_DIRS ${EIGEN_INCLUDE_DIRS} include# TODO include
     LIBRARIES # TODO
 )
diff --git a/odom_estimator/package.xml b/odom_estimator/package.xml
index d9f30f8..0f97b59 100644
--- a/odom_estimator/package.xml
+++ b/odom_estimator/package.xml
@@ -26,7 +26,7 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>message_generation</build_depend>
   <build_depend>cmake_modules</build_depend>
-  <build_depend>uf_common</build_depend>
+  <build_depend>mil_msgs</build_depend>
 
   <!-- Dependencies needed after this package is compiled. -->
   <run_depend>roscpp</run_depend>
@@ -39,7 +39,7 @@
   <run_depend>tf_conversions</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>message_runtime</run_depend>
-  <run_depend>uf_common</run_depend>
+  <run_depend>mil_msgs</run_depend>
 
   <!-- Dependencies needed only for running tests. -->
   <!-- <test_depend>roscpp</test_depend> -->
diff --git a/odom_estimator/src/nodelet.cpp b/odom_estimator/src/nodelet.cpp
index d87c8b4..9044ac3 100644
--- a/odom_estimator/src/nodelet.cpp
+++ b/odom_estimator/src/nodelet.cpp
@@ -13,8 +13,8 @@
 #include <eigen_conversions/eigen_msg.h>
 #include <tf_conversions/tf_eigen.h>
 
-#include <uf_common/VelocityMeasurements.h>
-#include <uf_common/Float64Stamped.h>
+#include <mil_msgs/VelocityMeasurements.h>
+#include <mil_msgs/DepthStamped.h>
 
 #include <odom_estimator/Info.h>
 #include <odom_estimator/SetIgnoreMagnetometer.h>
@@ -263,8 +263,8 @@ class NodeImpl {
         *state);
     }
     
-    void got_dvl(const uf_common::VelocityMeasurementsConstPtr &msgp) {
-      uf_common::VelocityMeasurements const & msg = *msgp;
+    void got_dvl(const mil_msgs::VelocityMeasurementsConstPtr &msgp) {
+      mil_msgs::VelocityMeasurements const & msg = *msgp;
       
       tf::StampedTransform transform;
       try {
@@ -277,9 +277,9 @@ class NodeImpl {
       Vec<3> local_dvl_pos; tf::vectorTFToEigen(transform.getOrigin(), local_dvl_pos);
       Quaternion local_dvl_orientation; tf::quaternionTFToEigen(transform.getRotation(), local_dvl_orientation);
       
-      std::vector<uf_common::VelocityMeasurement> good;
+      std::vector<mil_msgs::VelocityMeasurement> good;
       for(unsigned int i = 0; i < msg.velocity_measurements.size(); i++) {
-        uf_common::VelocityMeasurement const & vm = msg.velocity_measurements[i];
+        mil_msgs::VelocityMeasurement const & vm = msg.velocity_measurements[i];
         if(!std::isnan(vm.velocity)) {
           good.push_back(vm);
         }
@@ -303,7 +303,7 @@ class NodeImpl {
             
             Vec<Dynamic> res(good.size());
             for(unsigned int i = 0; i < good.size(); i++) {
-              uf_common::VelocityMeasurement const & vm = good[i];
+              mil_msgs::VelocityMeasurement const & vm = good[i];
               res(i) = (xyz2vec(vm.direction).dot(dvl_vel) + measurement_noise(i)) - vm.velocity;
             }
             return res;
@@ -314,8 +314,8 @@ class NodeImpl {
         *state);
     }
     
-    void got_depth(const uf_common::Float64StampedConstPtr &msgp) {
-      uf_common::Float64Stamped const & msg = *msgp;
+    void got_depth(const mil_msgs::DepthStampedConstPtr &msgp) {
+      mil_msgs::DepthStamped const & msg = *msgp;
       
       
       tf::StampedTransform transform;
@@ -335,7 +335,7 @@ class NodeImpl {
           [&](State const &state, Vec<1> const &measurement_noise) {
             SqMat<3> m = enu_from_ecef_mat(state.getPosECEF());
             double estimated = -(m * state.getRelPosECEF(local_depth_pos))(2) + measurement_noise(0);
-            return scalar_matrix(estimated - msg.data);
+            return scalar_matrix(estimated - msg.depth);
           },
           GaussianDistribution<Vec<1> >(
             Vec<1>::Zero(),
@@ -354,10 +354,10 @@ class NodeImpl {
     ros::Subscriber imu_sub;
     message_filters::Subscriber<sensor_msgs::MagneticField> mag_sub;
     tf::MessageFilter<sensor_msgs::MagneticField> mag_filter;
-    message_filters::Subscriber<uf_common::VelocityMeasurements> dvl_sub;
-    tf::MessageFilter<uf_common::VelocityMeasurements> dvl_filter;
-    message_filters::Subscriber<uf_common::Float64Stamped> depth_sub;
-    tf::MessageFilter<uf_common::Float64Stamped> depth_filter;
+    message_filters::Subscriber<mil_msgs::VelocityMeasurements> dvl_sub;
+    tf::MessageFilter<mil_msgs::VelocityMeasurements> dvl_filter;
+    message_filters::Subscriber<mil_msgs::DepthStamped> depth_sub;
+    tf::MessageFilter<mil_msgs::DepthStamped> depth_filter;
     ros::Publisher odom_pub;
     ros::Publisher absodom_pub;
     ros::Publisher info_pub;