diff --git a/CMakeLists.txt b/CMakeLists.txt
index ee3b6e54..1da9af75 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,7 +1,7 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(pcl_conversions)
 
-find_package(catkin REQUIRED COMPONENTS roscpp sensor_msgs std_msgs)
+find_package(catkin REQUIRED COMPONENTS pcl_msgs roscpp sensor_msgs std_msgs)
 
 find_package(PCL REQUIRED QUIET COMPONENTS common)
 
@@ -9,7 +9,7 @@ include_directories(include ${catkin_INCLUDE_DIRS} ${PCL_COMMON_INCLUDE_DIRS})
 
 catkin_package(
   INCLUDE_DIRS include ${PCL_COMMON_INCLUDE_DIRS}
-  CATKIN_DEPENDS sensor_msgs std_msgs
+  CATKIN_DEPENDS pcl_msgs roscpp sensor_msgs std_msgs
 )
 
 # Mark cpp header files for installation
@@ -20,5 +20,7 @@ install(DIRECTORY include/${PROJECT_NAME}/
 )
 
 # Add gtest based cpp test target
-catkin_add_gtest(${PROJECT_NAME}-test test/test_pcl_conversions.cpp)
-target_link_libraries(${PROJECT_NAME}-test ${catkin_LIBRARIES})
+if(CATKIN_ENABLE_TESTING)
+  catkin_add_gtest(${PROJECT_NAME}-test test/test_pcl_conversions.cpp)
+  target_link_libraries(${PROJECT_NAME}-test ${catkin_LIBRARIES})
+endif()
diff --git a/package.xml b/package.xml
index aaebd1bc..fae4db33 100644
--- a/package.xml
+++ b/package.xml
@@ -14,12 +14,14 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>pcl</build_depend>
+  <build_depend version_gte="1.7.0">pcl</build_depend>
+  <build_depend>pcl_msgs</build_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
 
-  <run_depend>pcl</run_depend>
+  <run_depend version_gte="1.7.0">pcl</run_depend>
+  <run_depend>pcl_msgs</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>std_msgs</run_depend>