diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt
index 54ee3f90..8ce8f594 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -13,7 +13,7 @@ include_directories(include)
 
 link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${Eigen_LIBRARY_DIRS} ${PCL_LIBRARY_DIRS})
 
-catkin_package(DEPENDS Eigen pcl roscpp sensor_msgs tf
+catkin_package(DEPENDS Eigen PCL roscpp sensor_msgs tf
                INCLUDE_DIRS include 
                LIBRARIES pcl_ros_tf
 )
diff --git a/pcl_ros/package.xml b/pcl_ros/package.xml
index 0e16821c..b0f67751 100644
--- a/pcl_ros/package.xml
+++ b/pcl_ros/package.xml
@@ -16,16 +16,19 @@
   <copyright>Open Perception</copyright>
 
   <build_depend>catkin</build_depend>
-  <build_depend>cmake</build_depend>
   <build_depend>common_msgs</build_depend>
   <build_depend>eigen</build_depend>
   <build_depend>geometry</build_depend>
   <build_depend>pcl</build_depend>
-  <build_depend>roscpp_core</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <build_depend>tf</build_depend>
 
   <run_depend>common_msgs</run_depend>
   <run_depend>eigen</run_depend>
   <run_depend>geometry</run_depend>
   <run_depend>pcl</run_depend>
-  <run_depend>roscpp_core</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>tf</run_depend>
 </package>