diff --git a/CMakeLists.txt b/grid_map_geo/CMakeLists.txt
similarity index 100%
rename from CMakeLists.txt
rename to grid_map_geo/CMakeLists.txt
diff --git a/include/grid_map_geo/grid_map_geo.h b/grid_map_geo/include/grid_map_geo/grid_map_geo.h
similarity index 100%
rename from include/grid_map_geo/grid_map_geo.h
rename to grid_map_geo/include/grid_map_geo/grid_map_geo.h
diff --git a/include/grid_map_geo/transform.h b/grid_map_geo/include/grid_map_geo/transform.h
similarity index 100%
rename from include/grid_map_geo/transform.h
rename to grid_map_geo/include/grid_map_geo/transform.h
diff --git a/launch/config.rviz b/grid_map_geo/launch/config.rviz
similarity index 100%
rename from launch/config.rviz
rename to grid_map_geo/launch/config.rviz
diff --git a/launch/load_multiple_tif.launch b/grid_map_geo/launch/load_multiple_tif.launch
similarity index 100%
rename from launch/load_multiple_tif.launch
rename to grid_map_geo/launch/load_multiple_tif.launch
diff --git a/launch/load_tif.launch b/grid_map_geo/launch/load_tif.launch
similarity index 100%
rename from launch/load_tif.launch
rename to grid_map_geo/launch/load_tif.launch
diff --git a/package.xml b/grid_map_geo/package.xml
similarity index 94%
rename from package.xml
rename to grid_map_geo/package.xml
index 996c7b7..4df2907 100644
--- a/package.xml
+++ b/grid_map_geo/package.xml
@@ -17,6 +17,7 @@
   <build_depend>eigen_catkin</build_depend>
   <build_depend>grid_map_core</build_depend>
   <build_depend>grid_map_ros</build_depend>
+  <build_depend>geo_map_msgs</build_depend>
   <run_depend>eigen_catkin</run_depend>
   <export>
   </export>
diff --git a/src/grid_map_geo.cpp b/grid_map_geo/src/grid_map_geo.cpp
similarity index 100%
rename from src/grid_map_geo.cpp
rename to grid_map_geo/src/grid_map_geo.cpp
diff --git a/src/test_tif_loader.cpp b/grid_map_geo/src/test_tif_loader.cpp
similarity index 100%
rename from src/test_tif_loader.cpp
rename to grid_map_geo/src/test_tif_loader.cpp
diff --git a/test/main.cpp b/grid_map_geo/test/main.cpp
similarity index 100%
rename from test/main.cpp
rename to grid_map_geo/test/main.cpp
diff --git a/test/test_grid_map_geo.cpp b/grid_map_geo/test/test_grid_map_geo.cpp
similarity index 100%
rename from test/test_grid_map_geo.cpp
rename to grid_map_geo/test/test_grid_map_geo.cpp