diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt
index a9275ac8..bdeebd84 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -33,13 +33,6 @@ include_directories(include
   ${PCL_INCLUDE_DIRS}
 )
 
-## Add link directories
-link_directories(
-  ${Boost_LIBRARY_DIRS}
-  ${Eigen_LIBRARY_DIRS}
-  ${PCL_LIBRARY_DIRS}
-)
-
 ## Generate dynamic_reconfigure
 generate_dynamic_reconfigure_options(
   cfg/EuclideanClusterExtraction.cfg
@@ -83,7 +76,7 @@ catkin_package(
 
 ## Declare the pcl_ros_tf library
 add_library(pcl_ros_tf src/transforms.cpp)
-target_link_libraries(pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
 add_dependencies(pcl_ros_tf pcl_ros_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
 
 ## Nodelets
@@ -96,7 +89,7 @@ add_library(pcl_ros_io
   src/pcl_ros/io/io.cpp
   src/pcl_ros/io/pcd_io.cpp
 )
-target_link_libraries(pcl_ros_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(pcl_ros_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
 class_loader_hide_library_symbols(pcl_ros_io)
 
 ## Declare the pcl_ros_features library
@@ -115,7 +108,7 @@ add_library(pcl_ros_features
   src/pcl_ros/features/principal_curvatures.cpp
   src/pcl_ros/features/vfh.cpp
 )
-target_link_libraries (pcl_ros_features ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries (pcl_ros_features ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
 add_dependencies(pcl_ros_features ${PROJECT_NAME}_gencfg)
 class_loader_hide_library_symbols(pcl_ros_features)
 
@@ -131,7 +124,7 @@ add_library(pcl_ros_filters
   src/pcl_ros/filters/voxel_grid.cpp
   src/pcl_ros/filters/crop_box.cpp
 )
-target_link_libraries(pcl_ros_filters pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(pcl_ros_filters pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
 add_dependencies(pcl_ros_filters ${PROJECT_NAME}_gencfg)
 class_loader_hide_library_symbols(pcl_ros_filters)
 
@@ -143,7 +136,7 @@ add_library (pcl_ros_segmentation
   src/pcl_ros/segmentation/segment_differences.cpp
   src/pcl_ros/segmentation/segmentation.cpp
 )
-target_link_libraries(pcl_ros_segmentation pcl_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(pcl_ros_segmentation pcl_segmentation pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
 add_dependencies(pcl_ros_segmentation ${PROJECT_NAME}_gencfg)
 class_loader_hide_library_symbols(pcl_ros_segmentation)
 
@@ -154,26 +147,26 @@ add_library (pcl_ros_surface
   src/pcl_ros/surface/convex_hull.cpp
   src/pcl_ros/surface/moving_least_squares.cpp
 )
-target_link_libraries(pcl_ros_surface ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(pcl_ros_surface ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
 add_dependencies(pcl_ros_surface ${PROJECT_NAME}_gencfg)
 class_loader_hide_library_symbols(pcl_ros_surface)
 
 ## Tools
 
 add_executable(pcd_to_pointcloud tools/pcd_to_pointcloud.cpp)
-target_link_libraries(pcd_to_pointcloud pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(pcd_to_pointcloud pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
 
 add_executable(pointcloud_to_pcd tools/pointcloud_to_pcd.cpp)
-target_link_libraries(pointcloud_to_pcd pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(pointcloud_to_pcd pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARY_DIRS} ${PCL_LIBRARIES})
 
 add_executable(bag_to_pcd tools/bag_to_pcd.cpp)
-target_link_libraries(bag_to_pcd pcl_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(bag_to_pcd pcl_io pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARY_DIRS} ${PCL_LIBRARIES})
 
 add_executable(convert_pcd_to_image tools/convert_pcd_to_image.cpp)
-target_link_libraries(convert_pcd_to_image pcl_io pcl_common ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(convert_pcd_to_image pcl_io pcl_common ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
 
 add_executable(convert_pointcloud_to_image tools/convert_pointcloud_to_image.cpp)
-target_link_libraries(convert_pointcloud_to_image pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
+target_link_libraries(convert_pointcloud_to_image pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${PCL_LIBRARIES})
 
 
 install(DIRECTORY include/${PROJECT_NAME}/
diff --git a/pcl_ros/package.xml b/pcl_ros/package.xml
index 165a6190..77602acf 100644
--- a/pcl_ros/package.xml
+++ b/pcl_ros/package.xml
@@ -20,8 +20,11 @@
   <url type="repository">https://github.com/ros-perception/perception_pcl</url>
   
   <buildtool_depend>catkin</buildtool_depend>
-
   <build_depend>cmake_modules</build_depend>
+  <build_depend>rosconsole</build_depend>
+  <build_depend>genmsg</build_depend>
+  <build_depend>roslib</build_depend>
+
   <build_depend>dynamic_reconfigure</build_depend>
   <build_depend>eigen</build_depend>
   <build_depend>nodelet</build_depend>
diff --git a/pcl_ros/pcl_nodelets.xml b/pcl_ros/pcl_nodelets.xml
index 71978735..215ef9a9 100644
--- a/pcl_ros/pcl_nodelets.xml
+++ b/pcl_ros/pcl_nodelets.xml
@@ -47,6 +47,41 @@
       in parallel, using the OpenMP standard.
     </description>
   </class>
+
+  <class name="pcl/NormalEstimationTBB" type="NormalEstimationTBB" base_class_type="nodelet::Nodelet">
+    <description>
+      NormalEstimationTBB estimates local surface properties at each 3D point, such as surface normals and curvatures, in
+      parallel, using Intel's Threading Building Blocks library.
+    </description>
+  </class>
+
+  <class name="pcl/NormalEstimation" type="NormalEstimation" base_class_type="nodelet::Nodelet">
+    <description>
+      NormalEstimation estimates local surface properties at each 3D point, such as surface normals and curvatures.
+    </description>
+  </class>
+
+  <class name="pcl/PFHEstimation" type="PFHEstimation" base_class_type="nodelet::Nodelet">
+    <description>
+      PFHEstimation estimates the Point Feature Histogram (PFH) descriptor for a given point cloud dataset containing
+      points and normals.
+    </description>
+  </class>
+
+  <class name="pcl/PrincipalCurvaturesEstimation" type="PrincipalCurvaturesEstimation" base_class_type="nodelet::Nodelet">
+    <description>
+      PrincipalCurvaturesEstimation estimates the directions (eigenvectors) and magnitudes (eigenvalues) of principal surface 
+      curvatures for a given point cloud dataset containing points and normals.
+    </description>
+  </class>
+
+  <class name="pcl/VFHEstimation" type="VFHEstimation" base_class_type="nodelet::Nodelet">
+    <description>
+      VFHEstimation estimates the Viewpoint Feature Histogram (VFH) global descriptor for a given point cloud cluster dataset
+      containing points and normals.
+    </description>
+  </class>
+
 </library>
 
 <!-- PCL IO library component -->
@@ -143,5 +178,55 @@
   </class>
 </library>
 
+<!-- PCL Segmentation library component -->
+<library path="lib/libpcl_ros_segmentation">
+  <class name="pcl/ExtractPolygonalPrismData" type="ExtractPolygonalPrismData" base_class_type="nodelet::Nodelet">
+    <description>
+      ExtractPolygonalPrismData uses a set of point indices that represent a planar model, and together with a given
+      height, generates a 3D polygonal prism. The polygonal prism is then used to segment all points lying inside it.
+    </description>
+  </class>
 
+   <class name="pcl/EuclideanClusterExtraction" type="EuclideanClusterExtraction" base_class_type="nodelet::Nodelet">
+     <description>
+       EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sense.
+    </description>
+  </class>
+
+  <class name="pcl/SACSegmentationFromNormals" type="SACSegmentationFromNormals" base_class_type="nodelet::Nodelet">
+    <description>
+      SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in the sense that
+      it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation.
+    </description>
+  </class>
+
+  <class name="pcl/SACSegmentation" type="SACSegmentation" base_class_type="nodelet::Nodelet">
+    <description>
+      SACSegmentation represents the Nodelet segmentation class for Sample Consensus methods and models, in the sense that
+      it just creates a Nodelet wrapper for generic-purpose SAC-based segmentation.
+    </description>
+  </class>
+
+  <class name="pcl/SegmentDifferences" type="SegmentDifferences" base_class_type="nodelet::Nodelet">
+     <description>
+       SegmentDifferences obtains the difference between two spatially aligned point clouds and returns the
+       difference between them for a maximum given distance threshold.
+    </description>
+  </class>
+
+</library>
+
+<!-- PCL Surface reconstruction library component -->
+<library path="lib/libpcl_ros_surface">
+  <class name="pcl/MovingLeastSquares" type="MovingLeastSquares" base_class_type="nodelet::Nodelet">
+    <description>
+      MovingLeastSquares is an implementation of the MLS algorithm for data reconstruction through bivariate polynomial fitting.
+    </description>
+  </class>
+  <class name="pcl/ConvexHull2D" type="ConvexHull2D" base_class_type="nodelet::Nodelet">
+    <description>
+      ConvexHull2D represents a 2D ConvexHull implementation.
+    </description>
+  </class>
+</library>