diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 00000000..d7faf9f9
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 2.8)
+project(perception_pcl)
+find_package(catkin)
+catkin_stack()
+
+add_subdirectory(pcl_ros)
diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt
index 5b3e9eae..cd674aa7 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 2.8)
 
-project(perception_pcl)
+project(pcl_ros)
 
 # Deal with catkin
 find_package(catkin REQUIRED roscpp sensor_msgs tf)
@@ -14,12 +14,10 @@ include_directories(include)
 
 link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${Eigen_LIBRARY_DIRS} ${PCL_LIBRARY_DIRS})
 
-catkin_stack()
-
 catkin_project(${PROJECT_NAME}
   INCLUDE_DIRS include 
   LIBRARIES pcl_ros_tf
-  DEPENDS  roscpp common_msgs sensor_msgs tf 
+  DEPENDS  roscpp sensor_msgs tf 
 )
 
 # ---[ Point Cloud Library - Transforms
diff --git a/pcl_ros/manifest.xml b/pcl_ros/manifest.xml
new file mode 100644
index 00000000..09c720d4
--- /dev/null
+++ b/pcl_ros/manifest.xml
@@ -0,0 +1,33 @@
+<package>
+  <description brief="PCL - ROS interface">
+<p>
+  PCL (Point Cloud Library) ROS interface package. PCL-ROS is the preferred
+  bridge for 3D applications involving n-D Point Clouds and 3D geometry
+  processing in ROS.
+</p>
+  </description>
+  <author>Open Perception</author>
+  <maintainer email="jkammerl@willowgarage.com">Julius Kammerl</maintainer>
+  <license>BSD</license>
+  <url>http://ros.org/wiki/pcl_ros</url>
+  <review status="doc reviewed" notes=""/>
+
+  <!-- ROS dependencies -->
+  <depend package="roscpp" />
+  <depend package="geometry_msgs" />
+  <depend package="message_filters" />
+  <depend package="tf" />
+
+  <!-- Eigen -->
+  <depend package="common_rosdeps" />
+  <rosdep name="eigen" />
+
+  <!-- PCL -->
+  <depend package="pcl" />
+
+  <export>
+    <cpp lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lpcl_ros_tf" cflags="-I${prefix}/include"/>
+  </export>
+  <platform os="ubuntu" version="10.04"/>
+  <platform os="ubuntu" version="10.10"/>
+</package>
diff --git a/stack.xml b/stack.xml
index d50269b4..ce3193b4 100644
--- a/stack.xml
+++ b/stack.xml
@@ -3,7 +3,7 @@
   <version>1.0.5</version>
   <description brief="Point Cloud Library interface package">
 <p>
-  PCL (Point Cloud Library) ROS interface package. PCL-ROS is the preferred
+  PCL (Point Cloud Library) ROS interface stack. PCL-ROS is the preferred
   bridge for 3D applications involving n-D Point Clouds and 3D geometry
   processing in ROS.
 </p>