diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0ff4bbc..5066069 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -68,6 +68,6 @@ install(
 )
 
 install(
-  DIRECTORY cmake resource
+  DIRECTORY cmake
   DESTINATION share/${PROJECT_NAME}
 )
\ No newline at end of file
diff --git a/bin/AAA b/bin/AAA
deleted file mode 100644
index 054fb18..0000000
--- a/bin/AAA
+++ /dev/null
@@ -1,51 +0,0 @@
-#!/usr/bin/env python3
-
-import argparse
-import os
-import sys
-
-from rosidl_cmake import read_generator_arguments
-from rosidl_parser import UnknownMessageType
-from micro_ros_agent import generate_typesupport_micrortps_c
-
-def is_valid_file(parser, file_name):
-    if not os.path.exists(file_name):
-        parser.error("File does not exist: '{0}'".format(file_name))
-    file_name_abs = os.path.abspath(file_name)
-    if not os.path.isfile(file_name_abs):
-        parser.error("Path exists but is not a file: '{0}'".format(file_name_abs))
-    return file_name
-
-
-def main(argv=sys.argv[1:]):
-    
-    print "-------------------------B-------------"
-    return 0
-
-    parser = argparse.ArgumentParser(
-        description='Generate the C interfaces for Micro RTPS.',
-        formatter_class=argparse.ArgumentDefaultsHelpFormatter)
-    parser.add_argument(
-        '--generator-arguments-file',
-        required=True,
-        help='The location of the file containing the generator arguments')
-    args = parser.parse_args(argv)
-
-    generator_args = read_generator_arguments(args.generator_arguments_file)
-
-    try:
-        rc = generate_typesupport_micrortps_c(generator_args)
-        
-        return 0
-    except UnknownMessageType as e:
-        print(str(e), file=sys.stderr)
-        return 1
-    if rc:
-        return rc
-    return 0
-
-
-if __name__ == '__main__':
-    print "-------------------------C-------------"
-
-    sys.exit(main())
diff --git a/cmake/micrortps_agent_xml_generator.cmake b/cmake/micrortps_agent_xml_generator.cmake
index b92fa42..1cf3f6c 100644
--- a/cmake/micrortps_agent_xml_generator.cmake
+++ b/cmake/micrortps_agent_xml_generator.cmake
@@ -25,7 +25,7 @@ endforeach()
 
 
 # Set output dir
-set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/micro_ros_agent/${PROJECT_NAME}")
+set(_output_path "${CMAKE_CURRENT_BINARY_DIR}/../micro_ros_agent/xml_gen")
 
 
 # check if all templates exits
@@ -49,7 +49,7 @@ rosidl_write_generator_arguments(
   ROS_INTERFACE_FILES "${rosidl_generate_interfaces_IDL_FILES}"
   ROS_INTERFACE_DEPENDENCIES "${_dependencies}"
   OUTPUT_DIR "${_output_path}"
-  TEMPLATE_DIR "${micro_ros_agent_TEMPLATE_DIR}"
+  TEMPLATE_DIR "NONE"
   TARGET_DEPENDENCIES ${target_dependencies}
   ADDITIONAL_FILES ${_dds_idl_files}
 )
@@ -60,3 +60,10 @@ execute_process(
                 COMMAND ${PYTHON_EXECUTABLE} ${micro_ros_agent_BIN}
                 --generator-arguments-file "${generator_arguments_file}"
                 )
+
+
+#Install
+install(
+  DIRECTORY "${_output_path}/"
+  DESTINATION "../micrortps_agent/bin"
+)
\ No newline at end of file
diff --git a/micro_ros_agent/__init__.py b/micro_ros_agent/__init__.py
index 926fa8c..67535e7 100644
--- a/micro_ros_agent/__init__.py
+++ b/micro_ros_agent/__init__.py
@@ -55,7 +55,7 @@ def generate_micro_ros_agent_xml_support(args):
                 os.makedirs(args['output_dir'])
 
             # Check if publixher exists
-            pub_file_path = "/root/install/publisher.xml"
+            pub_file_path = os.path.join(args['output_dir'], 'publisher.xml')
             pub_file = Path(pub_file_path)
             if not pub_file.is_file():
                 publ = open(pub_file_path, 'a')
@@ -66,10 +66,11 @@ def generate_micro_ros_agent_xml_support(args):
                 publ.close()
                 publ = open(pub_file_path,'w')
                 publ.writelines([item for item in lines[:-1]])
+                #publ = open(pub_file_path, "w")
+                #publ.seek(publ.seek(-1,2) - len("</profiles>\n"))
+
 
 
-            #publ = open(os.path.join(args['output_dir'], 'publisher.xml'), 'w+')
-            #publ = open('/root/install/publisher.xml', 'a')
             publ.write("   <publisher profile_name=\"default_xrce_publisher_profile\">\n")
             publ.write("       <topic>\n")
             publ.write("           <kind>NO_KEY</kind>\n")
@@ -89,8 +90,8 @@ def generate_micro_ros_agent_xml_support(args):
 
 
 
-             # Check if subcriber exists
-            subs_file_path = "/root/install/subscriber.xml"
+            # Check if subcriber exists
+            subs_file_path = os.path.join(args['output_dir'], 'subscriber.xml')
             subs_file = Path(subs_file_path)
             if not subs_file.is_file():
                 subs = open(subs_file_path, 'a')
@@ -103,9 +104,6 @@ def generate_micro_ros_agent_xml_support(args):
                 subs.writelines([item for item in lines[:-1]])
 
 
-            #subs = open(os.path.join(args['output_dir'], 'subscriber.xml'), 'w+')
-            #subs = open('/root/install/subscriber.xml', 'a')
-            #subs.write("<profiles>\n")
             subs.write("   <subscriber profile_name=\"default_xrce_subscriber_profile\">\n")
             subs.write("       <topic>\n")
             subs.write("           <kind>NO_KEY</kind>\n")
@@ -125,7 +123,7 @@ def generate_micro_ros_agent_xml_support(args):
 
 
             # Check if topic exists
-            topi_file_path = "/root/install/topic.xml"
+            topi_file_path = os.path.join(args['output_dir'], 'topic.xml')
             topi_file = Path(topi_file_path)
             if not topi_file.is_file():
                 topi = open(topi_file_path, 'a')
@@ -137,10 +135,6 @@ def generate_micro_ros_agent_xml_support(args):
                 topi = open(topi_file_path,'w')
                 topi.writelines([item for item in lines[:-1]])
 
-
-            #topi = open(os.path.join(args['output_dir'], 'topic.xml'), 'w+')
-            #topi = open('/root/install/topic.xml', 'a')
-            #topi.write("<dds>\n")
             topi.write("   <topic>\n")
             topi.write("       <name>%sPubSubTopic</name>\n" % (spec.msg_name))
             topi.write("       <dataType>%s::%s::dds_::%s_</dataType>\n" % (spec.base_type.pkg_name, subfolder, spec.msg_name))