diff --git a/CMakeLists.txt b/CMakeLists.txt
index 46919193..ab947c34 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -42,6 +42,7 @@ SET(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/lib)
 ####### DEPENDENCIES #######
 FIND_PACKAGE(OpenCV REQUIRED) # tested on 2.3.1
 FIND_PACKAGE(Qt4 COMPONENTS QtCore QtGui QtNetwork) # tested on Qt4.7
+ADD_DEFINITIONS(-DQT_NO_KEYWORDS) # To avoid conflicts with boost signals used in ROS
 
 ####### OSX BUNDLE CMAKE_INSTALL_PREFIX #######
 OPTION(BUILD_AS_BUNDLE "Set to ON to build as bundle (DragNDrop)" OFF)
diff --git a/imagesTcpServer/ImagesTcpServer.h b/imagesTcpServer/ImagesTcpServer.h
index 98e21b8f..647c7142 100644
--- a/imagesTcpServer/ImagesTcpServer.h
+++ b/imagesTcpServer/ImagesTcpServer.h
@@ -22,7 +22,7 @@ public:
 	quint16 getPort() const;
 
 
-private slots:
+private Q_SLOTS:
 	void addClient();
 	void publishImage(const cv::Mat & image);
 
diff --git a/src/AddObjectDialog.h b/src/AddObjectDialog.h
index d81b9653..28a019ec 100644
--- a/src/AddObjectDialog.h
+++ b/src/AddObjectDialog.h
@@ -28,7 +28,7 @@ public:
 	// ownership transferred to caller
 	ObjWidget * retrieveObject() {ObjWidget * obj = object_; object_=0; return obj;}
 
-private slots:
+private Q_SLOTS:
 	void update(const cv::Mat &);
 	void next();
 	void back();
diff --git a/src/Camera.cpp b/src/Camera.cpp
index 93e9f20a..344f1a3a 100644
--- a/src/Camera.cpp
+++ b/src/Camera.cpp
@@ -188,15 +188,15 @@ void Camera::takeImage()
 		{
 			cv::Mat resampled;
 			cv::resize(img, resampled, cv::Size(Settings::getCamera_2imageWidth(), Settings::getCamera_3imageHeight()));
-			emit imageReceived(resampled);
+			Q_EMIT imageReceived(resampled);
 		}
 		else if(capture_.isOpened())
 		{
-			emit imageReceived(img.clone()); // clone required with VideoCapture::read()
+			Q_EMIT imageReceived(img.clone()); // clone required with VideoCapture::read()
 		}
 		else
 		{
-			emit imageReceived(img); // clone not required with cv::imread()
+			Q_EMIT imageReceived(img); // clone not required with cv::imread()
 		}
 	}
 }
diff --git a/src/Camera.h b/src/Camera.h
index b578f20a..b99347ad 100644
--- a/src/Camera.h
+++ b/src/Camera.h
@@ -19,7 +19,7 @@ public:
 	cv::Mat getImage();
 	bool isConnected() const {return connected_;}
 
-private slots:
+private Q_SLOTS:
 	void readReceivedData();
 	void displayError(QAbstractSocket::SocketError socketError);
 	void connectionLost();
@@ -45,10 +45,10 @@ public:
 	int getCurrentFrameIndex();
 	void moveToFrame(int frame);
 
-signals:
+Q_SIGNALS:
 	void imageReceived(const cv::Mat & image);
 
-public slots:
+public Q_SLOTS:
 	virtual void updateImageRate();
 	virtual void takeImage();
 
diff --git a/src/MainWindow.cpp b/src/MainWindow.cpp
index 871a41d2..594ea11a 100644
--- a/src/MainWindow.cpp
+++ b/src/MainWindow.cpp
@@ -1756,7 +1756,7 @@ void MainWindow::update(const cv::Mat & image)
 
 			if(objectsDetected.size() > 0 || Settings::getGeneral_sendNoObjDetectedEvents())
 			{
-				emit objectsFound(objectsDetected);
+				Q_EMIT objectsFound(objectsDetected);
 			}
 			ui_->label_objectsDetected->setNum(objectsDetected.size());
 		}
diff --git a/src/MainWindow.h b/src/MainWindow.h
index 05371ad5..b4b65826 100644
--- a/src/MainWindow.h
+++ b/src/MainWindow.h
@@ -49,12 +49,12 @@ public:
 protected:
 	virtual void closeEvent(QCloseEvent * event);
 
-public slots:
+public Q_SLOTS:
 	void startProcessing();
 	void stopProcessing();
 	void pauseProcessing();
 
-private slots:
+private Q_SLOTS:
 	void loadSettings();
 	void saveSettings();
 	void loadObjects();
@@ -76,7 +76,7 @@ private slots:
 	void moveCameraFrame(int frame);
 	void rectHovered(int objId);
 
-signals:
+Q_SIGNALS:
 	void objectsFound(const QMultiMap<int, QPair<QRect, QTransform> > &);
 
 private:
diff --git a/src/ObjWidget.cpp b/src/ObjWidget.cpp
index c88d84fd..bbb10c7f 100644
--- a/src/ObjWidget.cpp
+++ b/src/ObjWidget.cpp
@@ -597,7 +597,7 @@ void ObjWidget::mouseReleaseEvent(QMouseEvent * event)
 			right = qAbs(l - pixmap_.width());
 		}
 
-		emit roiChanged(QRect(left, top, right-left, bottom-top));
+		Q_EMIT roiChanged(QRect(left, top, right-left, bottom-top));
 	}
 	QWidget::mouseReleaseEvent(event);
 }
@@ -640,7 +640,7 @@ void ObjWidget::contextMenuEvent(QContextMenuEvent * event)
 	}
 	else if(action == delete_)
 	{
-		emit removalTriggered(this);
+		Q_EMIT removalTriggered(this);
 	}
 	else if(action == graphicsViewMode_)
 	{
diff --git a/src/ObjWidget.h b/src/ObjWidget.h
index a423bef0..2b4734df 100644
--- a/src/ObjWidget.h
+++ b/src/ObjWidget.h
@@ -85,7 +85,7 @@ protected:
 	virtual void mouseMoveEvent(QMouseEvent * event);
 	virtual void mouseReleaseEvent(QMouseEvent * event);
 
-signals:
+Q_SIGNALS:
 	void removalTriggered(ObjWidget *);
 	void selectionChanged();
 	void roiChanged(const QRect &);
diff --git a/src/ParametersToolBox.cpp b/src/ParametersToolBox.cpp
index 72884908..a44df3ae 100644
--- a/src/ParametersToolBox.cpp
+++ b/src/ParametersToolBox.cpp
@@ -94,7 +94,7 @@ void ParametersToolBox::resetCurrentPage()
 	this->blockSignals(true);
 	QStringList paramChanged = this->resetPage(this->currentIndex());
 	this->blockSignals(false);
-	emit parametersChanged(paramChanged);
+	Q_EMIT parametersChanged(paramChanged);
 }
 
 void ParametersToolBox::resetAllPages()
@@ -106,7 +106,7 @@ void ParametersToolBox::resetAllPages()
 		paramChanged.append(this->resetPage(i));
 	}
 	this->blockSignals(false);
-	emit parametersChanged(paramChanged);
+	Q_EMIT parametersChanged(paramChanged);
 }
 
 void ParametersToolBox::updateParametersVisibility()
@@ -407,7 +407,7 @@ void ParametersToolBox::changeParameter(const QString & value)
 		Settings::setParameter(sender()->objectName(), value);
 		QStringList paramChanged;
 		paramChanged.append(sender()->objectName());
-		emit parametersChanged(paramChanged);
+		Q_EMIT parametersChanged(paramChanged);
 	}
 }
 void ParametersToolBox::changeParameter()
@@ -442,7 +442,7 @@ void ParametersToolBox::changeParameter()
 		}
 		QStringList paramChanged;
 		paramChanged.append(sender()->objectName());
-		emit parametersChanged(paramChanged);
+		Q_EMIT parametersChanged(paramChanged);
 	}
 }
 
@@ -573,6 +573,6 @@ void ParametersToolBox::changeParameter(const int & value)
 		}
 
 		paramChanged.append(sender()->objectName());
-		emit parametersChanged(paramChanged);
+		Q_EMIT parametersChanged(paramChanged);
 	}
 }
diff --git a/src/ParametersToolBox.h b/src/ParametersToolBox.h
index a23caa38..92d05c2b 100644
--- a/src/ParametersToolBox.h
+++ b/src/ParametersToolBox.h
@@ -30,10 +30,10 @@ private:
 	void addParameter(QVBoxLayout * layout, const QString & key, const bool & value);
 	void addParameter(QVBoxLayout * layout, const QString & name, QWidget * widget);
 
-signals:
+Q_SIGNALS:
 	void parametersChanged(const QStringList & name);
 
-private slots:
+private Q_SLOTS:
 	void changeParameter();
 	void changeParameter(const QString & value);
 	void changeParameter(const int & value);
diff --git a/src/RectItem.cpp b/src/RectItem.cpp
index 5638f0ff..e9dd1a65 100644
--- a/src/RectItem.cpp
+++ b/src/RectItem.cpp
@@ -59,7 +59,7 @@ void RectItem::showDescription()
 		placeHolder_->setPos(0,0);
 		placeHolder_->setVisible(true);
 
-		emit hovered(id_);
+		Q_EMIT hovered(id_);
 	}
 }
 
diff --git a/src/RectItem.h b/src/RectItem.h
index d1798edb..53e6d125 100644
--- a/src/RectItem.h
+++ b/src/RectItem.h
@@ -21,7 +21,7 @@ public:
 	void setColor(const QColor & color);
 	int id() const {return id_;}
 
-signals:
+Q_SIGNALS:
 	void hovered(int);
 
 protected:
diff --git a/src/TcpServer.h b/src/TcpServer.h
index 487515ab..06dc48fe 100644
--- a/src/TcpServer.h
+++ b/src/TcpServer.h
@@ -23,7 +23,7 @@ public:
 	quint16 getPort() const;
 
 
-private slots:
+private Q_SLOTS:
 	void addClient();
 	void publishObjects(const QMultiMap<int, QPair<QRect, QTransform> > & objects);
 };
diff --git a/src/rtabmap/PdfPlot.cpp b/src/rtabmap/PdfPlot.cpp
index 578382b3..7b01ad28 100644
--- a/src/rtabmap/PdfPlot.cpp
+++ b/src/rtabmap/PdfPlot.cpp
@@ -156,7 +156,7 @@ void PdfPlotCurve::setData(const QMap<int, float> & dataMap, const QMap<int, int
 
 		//reset minMax, this will force the plot to update the axes
 		this->updateMinMax();
-		emit dataChanged(this);
+		Q_EMIT dataChanged(this);
 	}
 }
 
diff --git a/src/utilite/UPlot.cpp b/src/utilite/UPlot.cpp
index bd6e8a55..1e43f982 100644
--- a/src/utilite/UPlot.cpp
+++ b/src/utilite/UPlot.cpp
@@ -419,7 +419,7 @@ void UPlotCurve::addValue(UPlotItem * data)
 	if(data)
 	{
 		this->_addValue(data);
-		emit dataChanged(this);
+		Q_EMIT dataChanged(this);
 	}
 }
 
@@ -464,7 +464,7 @@ void UPlotCurve::addValues(QVector<UPlotItem *> & data)
 	{
 		this->_addValue(data.at(i));
 	}
-	emit dataChanged(this);
+	Q_EMIT dataChanged(this);
 }
 
 void UPlotCurve::addValues(const QVector<float> & xs, const QVector<float> & ys)
@@ -474,7 +474,7 @@ void UPlotCurve::addValues(const QVector<float> & xs, const QVector<float> & ys)
 	{
 		this->_addValue(new UPlotItem(xs.at(i),ys.at(i),width));
 	}
-	emit dataChanged(this);
+	Q_EMIT dataChanged(this);
 }
 
 void UPlotCurve::addValues(const QVector<float> & ys)
@@ -494,7 +494,7 @@ void UPlotCurve::addValues(const QVector<float> & ys)
 		}
 		this->_addValue(new UPlotItem(x,ys.at(i),width));
 	}
-	emit dataChanged(this);
+	Q_EMIT dataChanged(this);
 }
 
 void UPlotCurve::addValues(const QVector<int> & ys)
@@ -514,7 +514,7 @@ void UPlotCurve::addValues(const QVector<int> & ys)
 		}
 		this->_addValue(new UPlotItem(x,ys.at(i),width));
 	}
-	emit dataChanged(this);
+	Q_EMIT dataChanged(this);
 }
 
 void UPlotCurve::addValues(const std::vector<int> & ys)
@@ -534,7 +534,7 @@ void UPlotCurve::addValues(const std::vector<int> & ys)
 		}
 		this->_addValue(new UPlotItem(x,ys.at(i),width));
 	}
-	emit dataChanged(this);
+	Q_EMIT dataChanged(this);
 }
 
 void UPlotCurve::addValues(const std::vector<float> & ys)
@@ -554,7 +554,7 @@ void UPlotCurve::addValues(const std::vector<float> & ys)
 		}
 		this->_addValue(new UPlotItem(x,ys.at(i),width));
 	}
-	emit dataChanged(this);
+	Q_EMIT dataChanged(this);
 }
 
 int UPlotCurve::removeItem(int index)
@@ -846,7 +846,7 @@ void UPlotCurve::setData(const QVector<float> & x, const QVector<float> & y)
 
 		//reset minMax, this will force the plot to update the axes
 		this->updateMinMax();
-		emit dataChanged(this);
+		Q_EMIT dataChanged(this);
 	}
 	else
 	{
@@ -883,7 +883,7 @@ void UPlotCurve::setData(const std::vector<float> & x, const std::vector<float>
 
 		//reset minMax, this will force the plot to update the axes
 		this->updateMinMax();
-		emit dataChanged(this);
+		Q_EMIT dataChanged(this);
 	}
 	else
 	{
@@ -923,7 +923,7 @@ void UPlotCurve::setData(const std::vector<float> & y)
 
 	//reset minMax, this will force the plot to update the axes
 	this->updateMinMax();
-	emit dataChanged(this);
+	Q_EMIT dataChanged(this);
 }
 
 void UPlotCurve::getData(QVector<float> & x, QVector<float> & y) const
@@ -1309,7 +1309,7 @@ void UPlotLegendItem::contextMenuEvent(QContextMenuEvent * event)
 	}
 	else if(action == _aRemoveCurve)
 	{
-		emit legendItemRemoved(_curve);
+		Q_EMIT legendItemRemoved(_curve);
 	}
 	else if (action == _aCopyToClipboard)
 	{
@@ -1436,7 +1436,7 @@ void UPlotLegend::removeLegendItem(const UPlotCurve * curve)
 {
 	if(this->remove(curve))
 	{
-		emit legendItemRemoved(curve);
+		Q_EMIT legendItemRemoved(curve);
 	}
 }
 
@@ -1456,7 +1456,7 @@ void UPlotLegend::redirectToggled(bool toggled)
 		UPlotLegendItem * item = qobject_cast<UPlotLegendItem*>(sender());
 		if(item)
 		{
-			emit legendItemToggled(item->curve(), _flat?!toggled:toggled);
+			Q_EMIT legendItemToggled(item->curve(), _flat?!toggled:toggled);
 		}
 	}
 }
diff --git a/src/utilite/UPlot.h b/src/utilite/UPlot.h
index 555c12ef..ced25e42 100644
--- a/src/utilite/UPlot.h
+++ b/src/utilite/UPlot.h
@@ -142,7 +142,7 @@ public:
 	void getData(QVector<float> & x, QVector<float> & y) const; // only call in Qt MainThread
 	void draw(QPainter * painter);
 
-public slots:
+public Q_SLOTS:
 	/**
 	 *
 	 * Clear curve's values.
@@ -212,7 +212,7 @@ public slots:
 	void addValues(const std::vector<float> & ys); // for convenience
 	void addValues(const std::vector<int> & ys); // for convenience
 
-signals:
+Q_SIGNALS:
 	/**
 	 *
 	 *  emitted when data is changed.
@@ -261,7 +261,7 @@ public:
 	UPlotCurveThreshold(const QString & name, float thesholdValue, Qt::Orientation orientation = Qt::Horizontal, QObject * parent = 0);
 	virtual ~UPlotCurveThreshold();
 
-public slots:
+public Q_SLOTS:
 	/**
 	 * Set threshold value.
 	 */
@@ -345,7 +345,7 @@ public:
 	virtual ~UPlotLegendItem();
 	const UPlotCurve * curve() const {return _curve;}
 
-signals:
+Q_SIGNALS:
 	void legendItemRemoved(const UPlotCurve *);
 
 protected:
@@ -380,17 +380,17 @@ public:
 	QPixmap createSymbol(const QPen & pen, const QBrush & brush);
 	bool remove(const UPlotCurve * curve);
 
-public slots:
+public Q_SLOTS:
 	void removeLegendItem(const UPlotCurve * curve);
 
-signals:
+Q_SIGNALS:
 	void legendItemRemoved(const UPlotCurve * curve);
 	void legendItemToggled(const UPlotCurve * curve, bool toggled);
 
 protected:
 	virtual void contextMenuEvent(QContextMenuEvent * event);
 
-private slots:
+private Q_SLOTS:
 	void redirectToggled(bool);
 
 private:
@@ -508,7 +508,7 @@ public:
 	void setGraphicsView(bool on);
 	QRectF sceneRect() const;
 
-public slots:
+public Q_SLOTS:
 	/**
 	 *
 	 * Remove a curve. If UPlot is the parent of the curve, the curve is deleted.
@@ -522,7 +522,7 @@ public slots:
 	 */
 	void clearData();
 
-private slots:
+private Q_SLOTS:
 	void captureScreen();
 	void updateAxis(const UPlotCurve * curve);
 
diff --git a/tcpClient/TcpClient.h b/tcpClient/TcpClient.h
index 018d1c1f..72adce16 100644
--- a/tcpClient/TcpClient.h
+++ b/tcpClient/TcpClient.h
@@ -16,7 +16,7 @@ class TcpClient : public QTcpSocket
 public:
 	TcpClient(const QString & hostname, quint16 port, QObject * parent = 0);
 
-private slots:
+private Q_SLOTS:
 	void readReceivedData();
 	void displayError(QAbstractSocket::SocketError socketError);
 	void connectionLost();