diff --git a/CMakeLists.txt b/CMakeLists.txt
deleted file mode 100644
index d7faf9f9..00000000
--- a/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-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 cd674aa7..54ee3f90 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -1,12 +1,11 @@
 cmake_minimum_required(VERSION 2.8)
-
 project(pcl_ros)
 
 # Deal with catkin
 find_package(catkin REQUIRED roscpp sensor_msgs tf)
 find_package(Boost COMPONENTS system filesystem thread REQUIRED)
 find_package(Eigen)
-find_package(PCL) 
+find_package(PCL)
 
 # deal with ROS
 include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${Eigen_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
@@ -14,18 +13,17 @@ include_directories(include)
 
 link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${Eigen_LIBRARY_DIRS} ${PCL_LIBRARY_DIRS})
 
-catkin_project(${PROJECT_NAME}
-  INCLUDE_DIRS include 
-  LIBRARIES pcl_ros_tf
-  DEPENDS  roscpp sensor_msgs tf 
+catkin_package(DEPENDS Eigen pcl roscpp sensor_msgs tf
+               INCLUDE_DIRS include 
+               LIBRARIES pcl_ros_tf
 )
 
 # ---[ Point Cloud Library - Transforms
 add_library (pcl_ros_tf SHARED src/transforms.cpp)
 target_link_libraries(pcl_ros_tf ${PCL_LIBS} ${Boost_LIBS} ${catkin_LIBS})
 
-install(DIRECTORY include/
-        DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+install(DIRECTORY include/${PROJECT_NAME}/
+        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
 
 install(TARGETS pcl_ros_tf
diff --git a/stack.xml b/pcl_ros/package.xml
similarity index 52%
rename from stack.xml
rename to pcl_ros/package.xml
index 3009da9f..0e16821c 100644
--- a/stack.xml
+++ b/pcl_ros/package.xml
@@ -1,5 +1,5 @@
-<stack>
-  <name>perception_pcl</name>
+<package>
+  <name>pcl_ros</name>
   <version>1.0.10</version>
   <description brief="Point Cloud Library interface package">
 <p>
@@ -15,18 +15,17 @@
   <url>http://ros.org/wiki/perception_pcl</url>
   <copyright>Open Perception</copyright>
 
-  <build_depends>cmake</build_depends>
-  <build_depends>catkin</build_depends>
-  <build_depends>eigen</build_depends>
-  <build_depends>pcl</build_depends>
-  <build_depends>geometry</build_depends>
-  <build_depends>common_msgs</build_depends>
-  <build_depends>roscpp_core</build_depends>
+  <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>
 
-  <depends>pcl</depends>
-  <depends>eigen</depends>
-  <depends>geometry</depends>
-  <depends>common_msgs</depends>
-  <depends>roscpp_core</depends>
-
-</stack>
+  <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>
+</package>
diff --git a/perception_pcl/package.xml b/perception_pcl/package.xml
new file mode 100644
index 00000000..b33d05bd
--- /dev/null
+++ b/perception_pcl/package.xml
@@ -0,0 +1,20 @@
+<package>
+  <name>perception_pcl</name>
+  <version>1.0.10</version>
+  <description brief="Point Cloud Library interface package">
+<p>
+  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>
+  </description>
+  <author>Open Perception</author>
+  <maintainer email="jkammerl@willowgarage.com">Julius Kammerl</maintainer>
+  <license>BSD</license>  
+  <url>http://ros.org/wiki/perception_pcl</url>
+  <copyright>Open Perception</copyright>
+
+  <build_depend>catkin</build_depend>
+
+  <run_depend>pcl_ros</run_depend>
+</package>
diff --git a/rosdep.yaml b/rosdep.yaml
deleted file mode 100644
index 4a9d45d6..00000000
--- a/rosdep.yaml
+++ /dev/null
@@ -1,32 +0,0 @@
-libtbb:
-  ubuntu: libtbb-dev
-  debian: libtbb-dev
-  fedora: tbb
-  macports: tbb
-libvtk:
-  ubuntu: libvtk5-dev
-  debian: libvtk5-dev
-  fedora: vtk-devel
-  macports: vtk-devel
-unzip:
-  ubuntu: unzip
-  debian: unzip
-  fedora: unzip
-  macports: unzip
-hdf5:
-  ubuntu: libhdf5-serial-dev
-  debian: libhdf5-serial-dev
-  fedora: hdf5-devel
-  macports: hdf5-18
-libqhull:
-  ubuntu: libqhull-dev
-  debian: libqhull-dev
-  fedora: qhull-devel
-  macports: qhull
-cmake:
-  ubuntu: cmake
-  debian: cmake
-  fedora: cmake
-  macports: cmake
-libvtk-qt:
-  ubuntu: libvtk5-qt4-dev
\ No newline at end of file