diff --git a/packaging/debian/changelog b/packaging/debian/changelog
index fc4699ee9e..563841e0e9 100644
--- a/packaging/debian/changelog
+++ b/packaging/debian/changelog
@@ -9,6 +9,7 @@ mrpt (1:1.5.0-1) unstable; urgency=medium
   * New version of upstream sources.
   * Fix lintian error license-problem-convert-utf-code
   * Builds with newer GCC versions (Closes: #853563)
+  * Remove all debian/patches as they are integrated upstream.
 
  -- Jose Luis Blanco (University of Malaga) <joseluisblancoc@gmail.com>  Sun, 11 Jun 2017 00:06:13 +0200
 
diff --git a/packaging/debian/compat b/packaging/debian/compat
index ec635144f6..f599e28b8a 100644
--- a/packaging/debian/compat
+++ b/packaging/debian/compat
@@ -1 +1 @@
-9
+10
diff --git a/packaging/debian/control.in b/packaging/debian/control.in
index 7ba3df4d33..561c4b2685 100644
--- a/packaging/debian/control.in
+++ b/packaging/debian/control.in
@@ -3,7 +3,6 @@ Section: science
 Priority: optional
 Maintainer: Jose Luis Blanco (University of Malaga) <joseluisblancoc@gmail.com>
 Build-Depends: debhelper (>= 9),
-	autotools-dev,
 	cmake,
 	perl,
 	zlib1g-dev,
@@ -35,7 +34,7 @@ Build-Depends: debhelper (>= 9),
 	libsuitesparse-dev,
 	python-numpy,
 	libeigen3-dev
-Standards-Version: 3.9.8
+Standards-Version: 4.0.0
 Homepage: http://www.mrpt.org/
 
 Package: mrpt-doc
@@ -69,7 +68,6 @@ Description: Mobile Robot Programming Toolkit - Documentation and examples
 Package: libmrpt-base@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends}
 Multi-Arch: same
 Description: Mobile Robot Programming Toolkit - base library
@@ -86,7 +84,6 @@ Description: Mobile Robot Programming Toolkit - base library
 Package: libmrpt-opengl@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
 	  libmrpt-base@MRPT_VER_MM@
 Multi-Arch: same
@@ -105,7 +102,6 @@ Description: Mobile Robot Programming Toolkit - opengl library
 Package: libmrpt-gui@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
 	  libmrpt-opengl@MRPT_VER_MM@
 Multi-Arch: same
@@ -123,7 +119,6 @@ Description: Mobile Robot Programming Toolkit - gui library
 Package: libmrpt-obs@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
 	  libmrpt-opengl@MRPT_VER_MM@
 Multi-Arch: same
@@ -141,7 +136,6 @@ Description: Mobile Robot Programming Toolkit - obs library
 Package: libmrpt-maps@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
 	  libmrpt-obs@MRPT_VER_MM@
 Multi-Arch: same
@@ -160,7 +154,6 @@ Description: Mobile Robot Programming Toolkit - maps library
 Package: libmrpt-hwdrivers@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
 	  libmrpt-obs@MRPT_VER_MM@,
 	  libmrpt-gui@MRPT_VER_MM@
@@ -179,7 +172,6 @@ Description: Mobile Robot Programming Toolkit - hwdrivers library
 Package: libmrpt-graphslam@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
  	  libmrpt-slam@MRPT_VER_MM@
 Multi-Arch: same
@@ -198,7 +190,6 @@ Description: Mobile Robot Programming Toolkit - graphslam library
 Package: libmrpt-vision@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
 	  libmrpt-obs@MRPT_VER_MM@
 Multi-Arch: same
@@ -216,7 +207,6 @@ Description: Mobile Robot Programming Toolkit - vision library
 Package: libmrpt-tfest@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
           libmrpt-base@MRPT_VER_MM@
 Multi-Arch: same
@@ -235,7 +225,6 @@ Description: Mobile Robot Programming Toolkit - tfest library
 Package: libmrpt-topography@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
 	  libmrpt-tfest@MRPT_VER_MM@,
 	  libmrpt-obs@MRPT_VER_MM@
@@ -255,7 +244,6 @@ Description: Mobile Robot Programming Toolkit - topography library
 Package: libmrpt-detectors@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
 	  libmrpt-maps@MRPT_VER_MM@,
 	  libmrpt-vision@MRPT_VER_MM@,
@@ -276,7 +264,6 @@ Description: Mobile Robot Programming Toolkit - detectors library
 Package: libmrpt-slam@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
 	  libmrpt-maps@MRPT_VER_MM@,
 	  libmrpt-vision@MRPT_VER_MM@,
@@ -297,7 +284,6 @@ Description: Mobile Robot Programming Toolkit - slam library
 Package: libmrpt-nav@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
 	  libmrpt-maps@MRPT_VER_MM@
 Multi-Arch: same
@@ -316,7 +302,6 @@ Description: Mobile Robot Programming Toolkit - nav library
 Package: libmrpt-hmtslam@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
 	  libmrpt-slam@MRPT_VER_MM@
 Multi-Arch: same
@@ -335,7 +320,6 @@ Description: Mobile Robot Programming Toolkit - hmtslam library
 Package: libmrpt-kinematics@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
 	  libmrpt-opengl@MRPT_VER_MM@
 Multi-Arch: same
@@ -354,7 +338,6 @@ Description: Mobile Robot Programming Toolkit - kinematics library
 Package: libmrpt-graphs@MRPT_VER_MM@
 Section: libs
 Architecture: any
-Pre-Depends: ${misc:Pre-Depends}
 Depends: ${shlibs:Depends}, ${misc:Depends},
  	  libmrpt-base@MRPT_VER_MM@
 Multi-Arch: same
@@ -453,4 +436,3 @@ Description: Mobile Robot Programming Toolkit - Console and GUI applications
   - robotic-arm-kinematics: GUI for design of robot arms with
                             Denavit-Hartenberg parameters.
   - velodyne-view: Live display/grabbing of Velodyne scanners.
-  
diff --git a/packaging/debian/copyright b/packaging/debian/copyright
index 7fea62144b..8ff8d91147 100644
--- a/packaging/debian/copyright
+++ b/packaging/debian/copyright
@@ -757,3 +757,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
  * exprtk: C++ Mathematical Expression Toolkit Library
  Arash Partow (1999-2016)
   MIT License  http://www.opensource.org/licenses/MIT
+
+ * rplidar: Low-cost LiDAR driver
+ Copyright (c) 2014 - 2016 Shanghai Slamtec Co., Ltd.
+  2-clause BSD License
diff --git a/packaging/debian/rules b/packaging/debian/rules
index 7cb9a6825f..d88c64515a 100644
--- a/packaging/debian/rules
+++ b/packaging/debian/rules
@@ -47,9 +47,8 @@ CMAKE_FLAGS = \
 # Don't set: CMAKE_SKIP_RPATH=ON --> it makes unit tests to fail,
 # and the rpath is removed anyway by cmake's install target.
 
-
 %:
-	dh $@ --buildsystem=cmake --parallel
+	dh $@ --buildsystem=cmake
 
 override_dh_auto_build:
 	dh_auto_build -O--buildsystem=cmake -- # -j4