diff --git a/s_graphs/CMakeLists.txt b/s_graphs/CMakeLists.txt
index 646821e6..13e379ec 100644
--- a/s_graphs/CMakeLists.txt
+++ b/s_graphs/CMakeLists.txt
@@ -1,6 +1,6 @@
 # SPDX-License-Identifier: BSD-2-Clause
 cmake_minimum_required(VERSION 3.5)
-project(lidar_s_graphs)
+project(lidar_situational_graphs)
 
 # Can we use C++17 in indigo?
 add_definitions(-msse -msse2 -msse3 -msse4 -msse4.1 -msse4.2)
@@ -41,10 +41,10 @@ find_package(tf2_ros REQUIRED)
 find_package(tf2_eigen REQUIRED)
 find_package(message_filters REQUIRED)
 find_package(geographic_msgs REQUIRED)
-find_package(situational_graphs_reasoning_msgs REQUIRED)
 find_package(backward_ros REQUIRED)
 find_package(rviz_visual_tools REQUIRED)
 find_package(situational_graphs_msgs REQUIRED)
+find_package(situational_graphs_reasoning_msgs REQUIRED)
 
 
 find_package(PCL REQUIRED)
@@ -92,14 +92,14 @@ set(DEPENDENCIES
     tf2_ros
     tf2_eigen
     pcl_ros
-    situational_graphs_reasoning_msgs
     visualization_msgs
     message_filters
     geographic_msgs
     nmea_msgs
     geodesy
     rviz_visual_tools
-    situational_graphs_msgs)
+    situational_graphs_msgs
+    situational_graphs_reasoning_msgs)
 
 SET(G2O_COMMON_LIBS
   ${PCL_LIBRARIES}
diff --git a/s_graphs/launch/s_graphs_launch.py b/s_graphs/launch/s_graphs_launch.py
index 06b3db22..25a1d991 100644
--- a/s_graphs/launch/s_graphs_launch.py
+++ b/s_graphs/launch/s_graphs_launch.py
@@ -51,7 +51,7 @@ def launch_reasoning():
 
 
 def launch_sgraphs(context, *args, **kwargs):
-    pkg_dir = get_package_share_directory("lidar_s_graphs")
+    pkg_dir = get_package_share_directory("lidar_situational_graphs")
     prefiltering_param_file = os.path.join(pkg_dir, "config", "prefiltering.yaml")
     scan_matching_param_file = os.path.join(pkg_dir, "config", "scan_matching.yaml")
     s_graphs_param_file = os.path.join(pkg_dir, "config", "s_graphs.yaml")
@@ -72,7 +72,7 @@ def launch_sgraphs(context, *args, **kwargs):
         base_link_frame = "base_footprint"
 
     prefiltering_cmd = Node(
-        package="lidar_s_graphs",
+        package="lidar_situational_graphs",
         executable="s_graphs_prefiltering_node",
         namespace=namespace_arg,
         parameters=[{prefiltering_param_file}, {"base_link_frame": base_link_frame}],
@@ -84,7 +84,7 @@ def launch_sgraphs(context, *args, **kwargs):
     )
 
     scan_matching_cmd = Node(
-        package="lidar_s_graphs",
+        package="lidar_situational_graphs",
         executable="s_graphs_scan_matching_odometry_node",
         namespace=namespace_arg,
         parameters=[scan_matching_param_file],
@@ -95,7 +95,7 @@ def launch_sgraphs(context, *args, **kwargs):
 
     if room_segmentation_arg == "old":
         room_segmentation_cmd = Node(
-            package="lidar_s_graphs",
+            package="lidar_situational_graphs",
             executable="s_graphs_room_segmentation_node",
             namespace=namespace_arg,
             parameters=[{"vertex_neigh_thres": 2}],
@@ -105,7 +105,7 @@ def launch_sgraphs(context, *args, **kwargs):
       reasoning_launch = launch_reasoning()
 
     floor_plan_cmd = Node(
-        package="lidar_s_graphs",
+        package="lidar_situational_graphs",
         executable="s_graphs_floor_plan_node",
         namespace=namespace_arg,
         parameters=[{"vertex_neigh_thres": 2}],
@@ -113,7 +113,7 @@ def launch_sgraphs(context, *args, **kwargs):
     )
 
     s_graphs_cmd = Node(
-        package="lidar_s_graphs",
+        package="lidar_situational_graphs",
         executable="s_graphs_node",
         namespace=namespace_arg,
         parameters=[s_graphs_param_file],
diff --git a/s_graphs/lidar_s_graphs/__init__.py b/s_graphs/lidar_situational_graphs/__init__.py
similarity index 100%
rename from s_graphs/lidar_s_graphs/__init__.py
rename to s_graphs/lidar_situational_graphs/__init__.py
diff --git a/s_graphs/lidar_s_graphs/map2odom_publisher.py b/s_graphs/lidar_situational_graphs/map2odom_publisher.py
similarity index 100%
rename from s_graphs/lidar_s_graphs/map2odom_publisher.py
rename to s_graphs/lidar_situational_graphs/map2odom_publisher.py
diff --git a/s_graphs/package.xml b/s_graphs/package.xml
index e7c3d7e2..597523d5 100644
--- a/s_graphs/package.xml
+++ b/s_graphs/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="3">
-  <name>lidar_s_graphs</name>
+  <name>lidar_situational_graphs</name>
   <version>3.0.1</version>
-  <description>The s_graphs package</description>
+  <description>The lidar situational graphs package for generating 3D optimizable scene graphs</description>
 
   <maintainer email="hriday.bavle@gmail.com">hriday</maintainer>