diff --git a/CMakeLists.txt b/CMakeLists.txt
index 401cfed..34f8a04 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,189 +1,178 @@
 CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
 SET(PROJECTNAME "libOncilla")
 SET(LIBNAME "oncilla")
 PROJECT(${PROJECTNAME})
 
 SET(CMAKE_ALLOW_LOOSE_LOOP_CONSTRUCTS TRUE)
 SET(LIBONCILLA_CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 
 ENABLE_LANGUAGE(C)
 ENABLE_LANGUAGE(CXX)
 
 SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # CMake module path and modules
 SET(PROJECT_CMAKE_PATH "${CMAKE_INSTALL_PREFIX}/share/cmake/Modules")
 SET(SYSTEM_CMAKE_PATH "/usr/share/cmake/Modules")
 SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${LIBONCILLA_CMAKE_MODULE_PATH}" "${PROJECT_CMAKE_PATH}" "${SYSTEM_CMAKE_PATH}")
-FIND_PACKAGE(RSC)
+FIND_PACKAGE(RSC REQUIRED)
 SET(CMAKE_MODULE_PATH "${CMAKE_MODULE_PATH}" "${RSC_CMAKE_MODULE_PATH}")
 MESSAGE(STATUS "RSC version: ${RSC_VERSION}")
 
 INCLUDE(CheckIncludeFileCXX)
 INCLUDE(InstallFilesRecursive)
 INCLUDE(EnableCoverageReport)
 INCLUDE(EnableSlocCount)
 INCLUDE(GenerateDoxygen)
 INCLUDE(GenerateCppcheck)
 INCLUDE(FindPkgConfig)
 
 SET(CMAKE_INSTALL_RPATH_USE_LINK_PATH TRUE)
 
 # --- user options ---
 OPTION(BUILD_TESTS "Decide whether unit-tests are built" ON)
 OPTION(BUILD_EXAMPLES "Decide whether the examples are built" ON)
 OPTION(BUILD_DOCS "Decide whether the docygen documentation is built" OFF)
-OPTION(BUILD_HARDWARE_DRIVER "Decide whether driver for the real robot is build" OFF)
-OPTION(WEBOTS_PROJECT_DIR "Specify folder to install the Webots Simulator Project to" "~/projects/oncillasim")
-
-# Cross-compiling
-IF ("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "i486")
-    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=${CMAKE_SYSTEM_PROCESSOR}")
-    MESSAGE(STATUS "Compiling for architecture: ${CMAKE_SYSTEM_PROCESSOR}")
-ENDIF ()
-IF ("${CMAKE_SYSTEM_PROCESSOR}" MATCHES "i586")
-    SET(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -march=${CMAKE_SYSTEM_PROCESSOR}")
-    MESSAGE(STATUS "Compiling for architecture: ${CMAKE_SYSTEM_PROCESSOR}")
-ENDIF ()
 
 # Dependencies
 FIND_PACKAGE(Threads REQUIRED)
 MESSAGE(STATUS "Threading library: ${CMAKE_THREAD_LIBS_INIT}")
 
 FIND_PACKAGE(NemoMath REQUIRED)
 MESSAGE(STATUS "NemoMath version: ${NemoMath_VERSION}")
 
 FIND_PACKAGE(RCI REQUIRED)
 MESSAGE(STATUS "RCI version: ${RCI_VERSION}")
 
 # --- global definitions ---
 SET(LIBONCILLA_NAME "${LIBNAME}")
 SET(DRIVER_TEST_NAME "${PROJECTNAME}Tests")
 SET(DTO_TEST_NAME "${DRIVER_TEST_NAME}DTO")
 SET(LIBONCILLA_VERSION_MAJOR 0)
 SET(LIBONCILLA_VERSION_MINOR 2)
 SET(LIBONCILLA_VERSION_PATCH 0)
 SET(LIBONCILLA_VERSION "${LIBONCILLA_VERSION_MAJOR}.${LIBONCILLA_VERSION_MINOR}.${LIBONCILLA_VERSION_PATCH}")
 SET(DRIVER_CMAKE_MODULE_PATH "${CMAKE_INSTALL_PREFIX}/share/cmake/Modules")
 
 SET(GTEST_DIR ${CMAKE_SOURCE_DIR}/3rdparty/gtest-1.5.0)
 SET(GTEST_INCLUDE_DIR ${GTEST_DIR}/include)
 SET(GMOCK_DIR ${CMAKE_SOURCE_DIR}/3rdparty/gmock-1.5.0)
 SET(GMOCK_INCLUDE_DIR ${GMOCK_DIR}/include)
 SET(GMOCK_LIBRARY_NAME "gmock")
 
 SET(OUTPUT_PATH ${CMAKE_BINARY_DIR}/build)
 SET(ARCHIVE_OUTPUT_PATH ${OUTPUT_PATH})
 SET(LIBRARY_OUTPUT_PATH ${OUTPUT_PATH})
 SET(EXECUTABLE_OUTPUT_PATH ${OUTPUT_PATH})
 
 # --- dependency handling ---
 IF(BUILD_DOCS)
     FIND_PACKAGE(Doxygen)
 ENDIF()
 
 # Includes
 INCLUDE_DIRECTORIES(BEFORE src ${CMAKE_CURRENT_BINARY_DIR}/src)
 INCLUDE_DIRECTORIES(SYSTEM ${RCI_INCLUDE_DIRS})
+INCLUDE_DIRECTORIES(SYSTEM ${RSC_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(SYSTEM ${NemoMath_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(SYSTEM ${Boost_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(SYSTEM ${LIBRARIES_INCLUDE_DIRS})
 INCLUDE_DIRECTORIES(BEFORE SYSTEM ${PROTOBUF_INCLUDE_DIR} ${RST_INCLUDE_DIRS})
 
 LINK_DIRECTORIES(${RCI_LIBRARY_DIR}
                  ${LIBRARIES_LIBRARY_DIRS})
 
 ADD_SUBDIRECTORY(src)
 ADD_SUBDIRECTORY(cmake)
 
 IF(BUILD_HARDWARE_DRIVER)
     INCLUDE_DIRECTORIES(SYSTEM ${LIBXML2_INCLUDE_DIR})
 ENDIF(BUILD_HARDWARE_DRIVER)
 
 IF(BUILD_TESTS)
     ADD_SUBDIRECTORY(test)
     #ADD_SUBDIRECTORY(3rdparty)
 ENDIF()
 #IF(BUILD_EXAMPLES)
 #    ADD_SUBDIRECTORY(examples)
 #ENDIF()
 
 # --- cmake config file ---
 SET(LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
 IF(CMAKE_LINK_LIBRARY_SUFFIX)
     SET(LIB_SUFFIX ${CMAKE_LINK_LIBRARY_SUFFIX})
 ENDIF()
 
 # --- pkgconfig file ---
 CONFIGURE_FILE(${LIBONCILLA_NAME}.pc.in ${CMAKE_CURRENT_BINARY_DIR}/${LIBONCILLA_NAME}.pc @ONLY)
 INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${LIBONCILLA_NAME}.pc DESTINATION lib/pkgconfig)
 
 # --- cmake config file ---
 SET(LIB_SUFFIX ${CMAKE_SHARED_LIBRARY_SUFFIX})
 IF(CMAKE_LINK_LIBRARY_SUFFIX)
     SET(LIB_SUFFIX ${CMAKE_LINK_LIBRARY_SUFFIX})
 ENDIF()
 CONFIGURE_FILE(${PROJECTNAME}Config.cmake.in ${CMAKE_CURRENT_BINARY_DIR}/${PROJECTNAME}Config.cmake @ONLY)
 INSTALL(FILES ${CMAKE_CURRENT_BINARY_DIR}/${PROJECTNAME}Config.cmake DESTINATION share/${LIBNAME})
 
 # --- documentation generation ---
 IF(BUILD_DOCS)
 IF(DOXYGEN_FOUND)
     SET(API_DIR "${CMAKE_BINARY_DIR}/doc")
     SET(SOURCE_DIR "${CMAKE_SOURCE_DIR}/src")
     SET(DOXYFILE "${CMAKE_BINARY_DIR}/Doxyfile")
     SET(WARNFILE "${CMAKE_BINARY_DIR}/doxygen-warn.log")
     
     CONFIGURE_FILE(Doxyfile.in ${DOXYFILE})
     
     ADD_CUSTOM_COMMAND(OUTPUT ${API_DIR}
                        DEPENDS ${DOXYFILE}
                        COMMAND ${DOXYGEN_EXECUTABLE}
                        ARGS ${DOXYFILE}
                        WORKING_DIRECTORY ${CMAKE_BINARY_DIR})
     ADD_CUSTOM_TARGET(doc DEPENDS ${API_DIR})
     
     INSTALL(CODE "execute_process(COMMAND ${CMAKE_BUILD_TOOL} doc)")
     INSTALL(DIRECTORY ${API_DIR} DESTINATION share/${LIBNAME})
 ENDIF()
 ENDIF(BUILD_DOCS)
 
 # --- coverage ---
 IF(BUILD_TESTS)
     ENABLE_COVERAGE_REPORT(TARGETS ${LIBONCILLA_NAME} TESTS ${DTO_TEST_NAME} ${INTEGRATED_TEST_NAME} FILTER "*3rdparty*" "*test/*")
 ENDIF(BUILD_TESTS)
 
 # --- sloccount ---
 ENABLE_SLOCCOUNT(FOLDERS src test examples)
 
 # --- cppcheck ---
 GENERATE_CPPCHECK(SOURCES src test examples
     "${CMAKE_CURRENT_BINARY_DIR}/src" "${CMAKE_CURRENT_BINARY_DIR}/test" "${CMAKE_CURRENT_BINARY_DIR}/examples"
     ENABLE_IDS style)
 
 # --- package ---
 INCLUDE(CheckLSBTypes)
 
 SET(CPACK_PACKAGE_VERSION_MAJOR ${LIBONCILLA_VERSION_MAJOR})
 SET(CPACK_PACKAGE_VERSION_MINOR ${LIBONCILLA_VERSION_MINOR})
 SET(CPACK_PACKAGE_VERSION_PATCH ${LIBONCILLA_VERSION_PATCH})
 SET(CPACK_PACKAGE_VERSION "${CPACK_PACKAGE_VERSION_MAJOR}.${CPACK_PACKAGE_VERSION_MINOR}.${CPACK_PACKAGE_VERSION_PATCH}")
 SET(CPACK_PACKAGE_FILE_NAME ${CMAKE_PROJECT_NAME}-${CPACK_PACKAGE_VERSION}_${LSB_CODENAME}_${LSB_PROCESSOR_ARCH})
 
 SET(CPACK_GENERATOR "TGZ")
 SET(CPACK_PACKAGE_VENDOR "CoR-Lab Bielefeld University")
 
 IF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
     SET(CPACK_GENERATOR "${CPACK_GENERATOR};DEB")
     SET(CPACK_DEBIAN_PACKAGE_NAME "amarsi-liboncilla")
     SET(CPACK_DEBIAN_PACKAGE_VERSION ${LIBONCILLA_VERSION_MAJOR}.${LIBONCILLA_VERSION_MINOR}.${LIBONCILLA_VERSION_PATCH})
     SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "Arne Nordmann (anordman@cor-lab.uni-bielefeld.de)")
     SET(CPACK_DEBIAN_PACKAGE_DESCRIPTION "AMARSi RCI representations of the AMARSi quadruped robot 'Oncilla'.")
     SET(CPACK_DEBIAN_PACKAGE_PRIORITY "optional")
     SET(CPACK_DEBIAN_PACKAGE_SECTION "devel")
     SET(CPACK_DEBIAN_ARCHITECTURE ${CMAKE_SYSTEM_PROCESSOR})
     SET(CPACK_DEBIAN_PACKAGE_DEPENDS "amarsi-rci-all")
     SET(CPACK_DEBIAN_PACKAGE_SUGGESTS "cmake, cmake-data, doxygen, lcov, cppcheck, sloccount")
 ENDIF(CMAKE_SYSTEM_NAME STREQUAL "Linux")
 
 INCLUDE(CPack)
diff --git a/oncilla.pc.in b/oncilla.pc.in
index a0c6560..5dd780a 100644
--- a/oncilla.pc.in
+++ b/oncilla.pc.in
@@ -1,6 +1,6 @@
 Name: @LIBONCILLA_NAME@
 Description: AMARSi RCI representations of the AMARSi Quadruped Robot 'Oncilla'
 Version: @LIBONCILLA_VERSION@
-Requires: rci
+Requires: rci rsc
 Libs: -L@CMAKE_INSTALL_PREFIX@/lib -l@LIBONCILLA_NAME@
 Cflags: -I@CMAKE_INSTALL_PREFIX@/include