diff --git a/CMakeLists.txt b/CMakeLists.txt
index b9fb420a..5b3e9eae 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,29 +3,28 @@ cmake_minimum_required(VERSION 2.8)
 project(perception_pcl)
 
 # Deal with catkin
-find_package(catkin REQUIRED roscpp sensor_msgs)
-find_package(PCL)
-find_package(eigen)
+find_package(catkin REQUIRED roscpp sensor_msgs tf)
+find_package(Boost COMPONENTS system filesystem thread REQUIRED)
+find_package(Eigen)
+find_package(PCL) 
 
 # deal with ROS
-include_directories(${catkin_INCLUDE_DIRS})
-link_directories(${catkin_LIBRARY_DIRS})
+include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} ${Eigen_INCLUDE_DIRS} ${PCL_INCLUDE_DIRS})
+include_directories(include)
+
+link_directories(${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  PCL eigen 
+  DEPENDS  roscpp common_msgs sensor_msgs tf 
 )
 
-include_directories(SYSTEM ${PCL_INCLUDE_DIRS} ${eigen_INCLUDE_DIRS})
-include_directories(include)
-
-
 # ---[ Point Cloud Library - Transforms
 add_library (pcl_ros_tf SHARED src/transforms.cpp)
-target_link_libraries(pcl_ros_tf ${PCL_LIBS})
+target_link_libraries(pcl_ros_tf ${PCL_LIBS} ${Boost_LIBS} ${catkin_LIBS})
 
 install(DIRECTORY include/
         DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
diff --git a/stack.xml b/stack.xml
index 8841eca1..69b35e73 100644
--- a/stack.xml
+++ b/stack.xml
@@ -17,9 +17,16 @@
 
   <build_depends>cmake</build_depends>
   <build_depends>catkin</build_depends>
-  <build_depends>eigen</build_depends>
-  <build_depends>pcl</build_depends>
+  <build_depends>Eigen</build_depends>
+  <build_depends>PCL</build_depends>
+  <build_depends>tf</build_depends>
+  <build_depends>sensor_msgs</build_depends>
+  <build_depends>roscpp_core</build_depends>
+
+  <depends>PCL</depends>
+  <depends>Eigen</depends>
+  <depends>tf</depends>
+  <depends>sensor_msgs</depends>
+  <depends>roscpp_core</depends>
 
-  <depends>pcl</depends>
-  <depends>eigen</depends>
 </stack>