diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt
index 86f532a2..0ae2556c 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -3,7 +3,7 @@ project(pcl_ros)
 
 # Deal with catkin
 find_package(Boost COMPONENTS system filesystem thread REQUIRED)
-find_package(catkin REQUIRED dynamic_reconfigure genmsg roscpp sensor_msgs std_msgs tf rosbag rosconsole roslib)
+find_package(catkin REQUIRED dynamic_reconfigure genmsg roscpp sensor_msgs std_msgs tf rosbag rosconsole roslib pluginlib)
 find_package(Eigen)
 find_package(PCL)
 
@@ -46,6 +46,8 @@ add_library (pcl_ros_io
 #rosbuild_add_compile_flags (pcl_ros_io ${SSE_FLAGS})
 target_link_libraries (pcl_ros_io pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
 
+class_loader_hide_library_symbols(pcl_ros_io)
+
 # ---[ PCL ROS - Filters
 add_library (pcl_ros_filters
 	      src/pcl_ros/filters/filter.cpp
@@ -59,6 +61,8 @@ add_library (pcl_ros_filters
 #add_compile_flags (pcl_ros_filters ${SSE_FLAGS})
 target_link_libraries (pcl_ros_filters pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
 
+class_loader_hide_library_symbols(pcl_ros_filters)
+
 ############ TOOLS
 
 add_executable (pcd_to_pointcloud tools/pcd_to_pointcloud.cpp)
diff --git a/pcl_ros/package.xml b/pcl_ros/package.xml
index 3a928554..1131212a 100644
--- a/pcl_ros/package.xml
+++ b/pcl_ros/package.xml
@@ -24,6 +24,7 @@
   <build_depend>rosbag</build_depend>
   <build_depend>tf</build_depend>
   <build_depend>nodelet</build_depend>
+  <build_depend>pluginlib</build_depend>
 
   <run_depend>dynamic_reconfigure</run_depend>
   <run_depend>eigen</run_depend>
@@ -34,6 +35,7 @@
   <run_depend>rosbag</run_depend>
   <run_depend>tf</run_depend>
   <run_depend>nodelet</run_depend>
+  <run_depend>pluginlib</run_depend>
   
   <export>
      <rviz plugin="${prefix}/pcl_nodelets.xml"/>