diff --git a/arm_kinematics/manifest.xml b/arm_kinematics/manifest.xml
index 1c73d59..d1f5b45 100644
--- a/arm_kinematics/manifest.xml
+++ b/arm_kinematics/manifest.xml
@@ -1,8 +1,7 @@
 <package>
-  <description brief="arm_kinematics">
-
-     arm_kinematics
-
+  <description brief="A generic package for computing Arm Kinematics">
+    A generic package for computing both forward and backward kinematics for arms.
+    Developed as an alternative to pr2_arm_kinematics for people not using the PR2. 
   </description>
   <author>David Lu!!</author>
   <license>BSD</license>
diff --git a/stack.xml b/stack.xml
index 6fcf8c4..5082fd8 100644
--- a/stack.xml
+++ b/stack.xml
@@ -1,5 +1,5 @@
 <stack>
-  <description brief="urdf_tools">urdf_tools</description>
+  <description brief="Tools for use with URDF Models">This package contains a number of tools for making, viewing and using URDF models.</description>
   <author>Maintained by David Lu!!</author>
   <license>BSD</license>  
   <review status="unreviewed" notes=""/>
diff --git a/urdf_tutorial/manifest.xml b/urdf_tutorial/manifest.xml
index 32c7548..d2f3d34 100644
--- a/urdf_tutorial/manifest.xml
+++ b/urdf_tutorial/manifest.xml
@@ -1,10 +1,8 @@
 <package>
-  <description brief="urdf_tutorial">
-
-     urdf_tutorial
-
+  <description brief="Code for some URDF Tutorials">
+    Support code for the step by step URDF tutorials on ROS.org
   </description>
-  <author>Lu David </author>
+  <author>David Lu!!</author>
   <license>BSD</license>
   <review status="unreviewed" notes=""/>
   <url>http://ros.org/wiki/urdf_tutorial</url>