diff --git a/bebop_description/CMakeLists.txt b/bebop_description/CMakeLists.txt
index 2ad33ee..0845b73 100644
--- a/bebop_description/CMakeLists.txt
+++ b/bebop_description/CMakeLists.txt
@@ -8,4 +8,18 @@ find_package(catkin REQUIRED COMPONENTS
 catkin_package()
 
 # TODO: Tests
-# TODO: Install Rules
+
+#############
+## Install ##
+#############
+
+# Copy launch files
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  FILES_MATCHING PATTERN "*.launch"
+)
+
+# Copy resources
+install(DIRECTORY urdf/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf
+)
diff --git a/bebop_driver/CMakeLists.txt b/bebop_driver/CMakeLists.txt
index ebd30f6..bed38bf 100644
--- a/bebop_driver/CMakeLists.txt
+++ b/bebop_driver/CMakeLists.txt
@@ -113,26 +113,35 @@ target_link_libraries(bebop_driver_node
 #   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 # )
 
-## Mark executables and/or libraries for installation
-# install(TARGETS bebop_autonomy bebop_autonomy_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+# Mark executables and/or libraries for installation
+install(TARGETS bebop bebop_driver_node bebop_driver_nodelet
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}/
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}/
+)
 
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
+# Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
 
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
+# Copy config files
+install(DIRECTORY config/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
+)
+
+install(DIRECTORY data/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/data
+)
+
+install(FILES nodelet_plugins.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+# Copy launch files
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  FILES_MATCHING PATTERN "*.launch"
+)
 
 #############
 ## Testing ##
diff --git a/bebop_driver/src/bebop.cpp b/bebop_driver/src/bebop.cpp
index 7285318..590406a 100644
--- a/bebop_driver/src/bebop.cpp
+++ b/bebop_driver/src/bebop.cpp
@@ -257,12 +257,21 @@ void Bebop::Connect(ros::NodeHandle& nh, ros::NodeHandle& priv_nh, const std::st
     error_discovery = ARDISCOVERY_Device_InitWifi(device_ptr_,
                                                   ARDISCOVERY_PRODUCT_ARDRONE, "Bebop",
                                                   bebop_ip_.c_str(), 44444);
-
     if (error_discovery != ARDISCOVERY_OK)
     {
       throw std::runtime_error("Discovery failed: " + std::string(ARDISCOVERY_Error_ToString(error_discovery)));
     }
 
+    error_discovery = ARDISCOVERY_Device_WifiSetDeviceToControllerPort(device_ptr_, 43210);
+    if (error_discovery == ARDISCOVERY_OK)
+    {
+      ARSAL_PRINT(ARSAL_PRINT_WARNING, LOG_TAG, "Set receiving port on host machine to 43210");
+    }
+    else
+    {
+      throw std::runtime_error("ARDISCOVERY_Device_WifiSetDeviceToControllerPort failed: " + std::string(ARDISCOVERY_Error_ToString(error_discovery)));
+    }
+
     device_controller_ptr_ = ARCONTROLLER_Device_New(device_ptr_, &error_);
     ThrowOnCtrlError(error_, "Creation of device controller failed: ");
 
diff --git a/bebop_tools/CMakeLists.txt b/bebop_tools/CMakeLists.txt
index 6341b46..a02a924 100644
--- a/bebop_tools/CMakeLists.txt
+++ b/bebop_tools/CMakeLists.txt
@@ -12,4 +12,17 @@ catkin_package(
  CATKIN_DEPENDS bebop_msgs
 )
 
-# TODO: Install Rules
+#############
+## Install ##
+#############
+
+# Copy launch files
+install(DIRECTORY launch/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
+  FILES_MATCHING PATTERN "*.launch"
+)
+
+# Copy config files
+install(DIRECTORY config/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/config
+)