diff --git a/CMakeLists.txt b/CMakeLists.txt
index 78d87ce4..b0a7f32f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -289,7 +289,7 @@ ELSE()
    ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
    ## is used, also find other catkin packages
    find_package(catkin REQUIRED COMPONENTS 
-           cv_bridge roscpp rospy sensor_msgs std_msgs image_transport genmsg message_filters tf
+           cv_bridge roscpp rospy sensor_msgs std_msgs image_transport message_filters tf message_generation
    )
 
    ## Generate messages in the 'msg' folder
@@ -316,7 +316,7 @@ ELSE()
    ## CATKIN_DEPENDS: catkin_packages dependent projects also need
    ## DEPENDS: system dependencies of this project that dependent projects also need
    catkin_package(
-     CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs image_transport message_filters tf
+     CATKIN_DEPENDS cv_bridge roscpp rospy sensor_msgs std_msgs image_transport message_filters tf message_runtime
    )
 
    ###########
diff --git a/package.xml b/package.xml
index 6b4d6111..2541c153 100644
--- a/package.xml
+++ b/package.xml
@@ -10,8 +10,8 @@
   <author email="matlabbe@gmail.com">Mathieu Labbe</author>
 
   <buildtool_depend>catkin</buildtool_depend>
-  <buildtool_depend>genmsg</buildtool_depend>
  
+  <build_depend>message_generation</build_depend>
   <build_depend>qtbase5-dev</build_depend>
   <build_depend>cv_bridge</build_depend>
   <build_depend>roscpp</build_depend>
@@ -23,6 +23,7 @@
   <build_depend>message_filters</build_depend>
   <build_depend>tf</build_depend>
   
+  <run_depend>message_runtime</run_depend>
   <run_depend>qtbase5-dev</run_depend>
   <run_depend>cv_bridge</run_depend>
   <run_depend>roscpp</run_depend>