diff --git a/pcl_ros/CMakeLists.txt b/pcl_ros/CMakeLists.txt
index b1c01f3f..fd04d869 100644
--- a/pcl_ros/CMakeLists.txt
+++ b/pcl_ros/CMakeLists.txt
@@ -1,157 +1,190 @@
 cmake_minimum_required(VERSION 2.8)
 project(pcl_ros)
 
-# Deal with catkin
-find_package(Boost COMPONENTS system filesystem thread REQUIRED)
-find_package(catkin REQUIRED dynamic_reconfigure genmsg nodelet nodelet_topic_tools pcl_conversions pcl_msgs roscpp sensor_msgs std_msgs tf rosbag rosconsole roslib pluginlib)
+## Find system dependencies
+find_package(Boost REQUIRED COMPONENTS system filesystem thread)
 find_package(Eigen REQUIRED)
 find_package(PCL REQUIRED)
 
-# deal with ROS
-include_directories(SYSTEM ${Boost_INCLUDE_DIRS}
-                           ${catkin_INCLUDE_DIRS}
-                           ${Eigen_INCLUDE_DIRS}
-                           ${PCL_INCLUDE_DIRS}
+## Find catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  dynamic_reconfigure
+  genmsg
+  nodelet
+  nodelet_topic_tools
+  pcl_conversions
+  pcl_msgs
+  pluginlib
+  rosbag
+  rosconsole
+  roscpp
+  roslib
+  sensor_msgs
+  std_msgs
+  tf
 )
-include_directories(include)
-
-link_directories(${catkin_LIBRARY_DIRS} ${Boost_LIBRARY_DIRS} ${Eigen_LIBRARY_DIRS} ${PCL_LIBRARY_DIRS})
-
-# generate the dynamic_reconfigure config file
-generate_dynamic_reconfigure_options(cfg/Feature.cfg
-                                     cfg/Filter.cfg
-                                     cfg/EuclideanClusterExtraction.cfg
-                                     cfg/ExtractIndices.cfg 
-                                     cfg/ExtractPolygonalPrismData.cfg
-                                     cfg/MLS.cfg
-                                     cfg/SACSegmentation.cfg
-                                     cfg/SACSegmentationFromNormals.cfg
-                                     cfg/SegmentDifferences.cfg 
-                                     cfg/StatisticalOutlierRemoval.cfg
-                                     cfg/VoxelGrid.cfg
 
+## Add include directories
+include_directories(include
+  ${Boost_INCLUDE_DIRS}
+  ${catkin_INCLUDE_DIRS}
+  ${Eigen_INCLUDE_DIRS}
+  ${PCL_INCLUDE_DIRS}
 )
-include_directories(include cfg/cpp)
 
+## Add link directories
+link_directories(
+  ${Boost_LIBRARY_DIRS}
+  ${Eigen_LIBRARY_DIRS}
+  ${PCL_LIBRARY_DIRS}
+)
+
+## Generate dynamic_reconfigure
+generate_dynamic_reconfigure_options(
+  cfg/EuclideanClusterExtraction.cfg
+  cfg/ExtractIndices.cfg
+  cfg/ExtractPolygonalPrismData.cfg
+  cfg/Feature.cfg
+  cfg/Filter.cfg
+  cfg/MLS.cfg
+  cfg/SACSegmentation.cfg
+  cfg/SACSegmentationFromNormals.cfg
+  cfg/SegmentDifferences.cfg
+  cfg/StatisticalOutlierRemoval.cfg
+  cfg/VoxelGrid.cfg
+)
+
+## Declare the catkin package
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES pcl_ros_tf pcl_ros_io pcl_ros_filters
-  CATKIN_DEPENDS roscpp sensor_msgs tf sensor_msgs std_msgs
-  DEPENDS Eigen PCL 
+  LIBRARIES
+    pcl_ros_filters
+    pcl_ros_io
+    pcl_ros_tf
+  CATKIN_DEPENDS
+    dynamic_reconfigure
+    message_filters
+    nodelet
+    pcl_conversions
+    pcl_ros
+    rosbag
+    roscpp
+    sensor_msgs
+    std_msgs
+    tf
+  DEPENDS
+    Boost
+    Eigen
+    PCL
 )
 
-# ---[ Point Cloud Library - Transforms
-add_library (pcl_ros_tf SHARED src/transforms.cpp)
-target_link_libraries(pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
-add_dependencies(pcl_ros_tf ros_gencpp pcl_ros_copy)
+## 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})
+add_dependencies(pcl_ros_tf pcl_ros_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
 
-############ NODELETS
-
-# ---[ Point Cloud Library - IO
-add_library (pcl_ros_io
-              src/pcl_ros/io/io.cpp
-              src/pcl_ros/io/concatenate_fields.cpp
-              src/pcl_ros/io/concatenate_data.cpp
-              src/pcl_ros/io/pcd_io.cpp
-              src/pcl_ros/io/bag_io.cpp
-             )
-#rosbuild_add_compile_flags (pcl_ros_io ${SSE_FLAGS})
-target_link_libraries (pcl_ros_io pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
+## Nodelets
 
+## Declare the pcl_ros_io library
+add_library(pcl_ros_io
+  src/pcl_ros/io/bag_io.cpp
+  src/pcl_ros/io/concatenate_data.cpp
+  src/pcl_ros/io/concatenate_fields.cpp
+  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})
 class_loader_hide_library_symbols(pcl_ros_io)
 
-# ---[ PCL ROS - Features
-add_library (pcl_ros_features
-              src/pcl_ros/features/feature.cpp
-              # Compilation is much faster if we include all the following CPP files in feature.cpp
-              src/pcl_ros/features/boundary.cpp
-              src/pcl_ros/features/fpfh.cpp
-              src/pcl_ros/features/fpfh_omp.cpp
-              src/pcl_ros/features/moment_invariants.cpp
-              src/pcl_ros/features/normal_3d.cpp
-              src/pcl_ros/features/normal_3d_omp.cpp
-              src/pcl_ros/features/pfh.cpp
-              src/pcl_ros/features/principal_curvatures.cpp
-              src/pcl_ros/features/vfh.cpp
-              )
-#rosbuild_add_compile_flags (pcl_ros_features ${SSE_FLAGS})
-target_link_libraries (pcl_ros_features ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
-
+## Declare the pcl_ros_features library
+add_library(pcl_ros_features
+  src/pcl_ros/features/feature.cpp
+  # Compilation is much faster if we include all the following CPP files in feature.cpp
+  src/pcl_ros/features/boundary.cpp
+  src/pcl_ros/features/fpfh.cpp
+  src/pcl_ros/features/fpfh_omp.cpp
+  src/pcl_ros/features/moment_invariants.cpp
+  src/pcl_ros/features/normal_3d.cpp
+  src/pcl_ros/features/normal_3d_omp.cpp
+  src/pcl_ros/features/pfh.cpp
+  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})
 class_loader_hide_library_symbols(pcl_ros_features)
 
 
-# ---[ PCL ROS - Filters
-add_library (pcl_ros_filters
-	      src/pcl_ros/filters/filter.cpp
-	      src/pcl_ros/filters/passthrough.cpp
-	      src/pcl_ros/filters/project_inliers.cpp
-	      src/pcl_ros/filters/extract_indices.cpp
-	      src/pcl_ros/filters/radius_outlier_removal.cpp
-	      src/pcl_ros/filters/statistical_outlier_removal.cpp
-	      src/pcl_ros/filters/voxel_grid.cpp
-	     )
-#add_compile_flags (pcl_ros_filters ${SSE_FLAGS})
-target_link_libraries (pcl_ros_filters pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
-
+## Declare the pcl_ros_filters library
+add_library(pcl_ros_filters
+  src/pcl_ros/filters/extract_indices.cpp
+  src/pcl_ros/filters/filter.cpp
+  src/pcl_ros/filters/passthrough.cpp
+  src/pcl_ros/filters/project_inliers.cpp
+  src/pcl_ros/filters/radius_outlier_removal.cpp
+  src/pcl_ros/filters/statistical_outlier_removal.cpp
+  src/pcl_ros/filters/voxel_grid.cpp
+)
+target_link_libraries(pcl_ros_filters pcl_ros_tf ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
 class_loader_hide_library_symbols(pcl_ros_filters)
 
-# ---[ Point Cloud Library - Segmentation
+## Declare the pcl_ros_segmentation library
 add_library (pcl_ros_segmentation
-              src/pcl_ros/segmentation/segmentation.cpp
-              src/pcl_ros/segmentation/segment_differences.cpp
-              src/pcl_ros/segmentation/extract_clusters.cpp
-              src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
-              src/pcl_ros/segmentation/sac_segmentation.cpp
-              )
-#rosbuild_add_compile_flags (pcl_ros_segmentation ${SSE_FLAGS})
-target_link_libraries (pcl_ros_segmentation pcl_segmentation pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
-
+  src/pcl_ros/segmentation/extract_clusters.cpp
+  src/pcl_ros/segmentation/extract_polygonal_prism_data.cpp
+  src/pcl_ros/segmentation/sac_segmentation.cpp
+  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})
 class_loader_hide_library_symbols(pcl_ros_segmentation)
 
-# ---[ Point Cloud Library - Surface
+## Declare the pcl_ros_surface library
 add_library (pcl_ros_surface
-              src/pcl_ros/surface/surface.cpp
-              # Compilation is much faster if we include all the following CPP files in surface.cpp
-              src/pcl_ros/surface/convex_hull.cpp
-              src/pcl_ros/surface/moving_least_squares.cpp
-              )
-#rosbuild_add_compile_flags (pcl_ros_surface ${SSE_FLAGS})
-target_link_libraries (pcl_ros_surface ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
-
+  src/pcl_ros/surface/surface.cpp
+  # Compilation is much faster if we include all the following CPP files in surface.cpp
+  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})
 class_loader_hide_library_symbols(pcl_ros_surface)
 
-############ TOOLS
+## Tools
 
-add_executable (pcd_to_pointcloud tools/pcd_to_pointcloud.cpp)
-target_link_libraries (pcd_to_pointcloud pcl_io ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_LIBRARIES})
+add_executable(pcd_to_pointcloud tools/pcd_to_pointcloud.cpp)
+target_link_libraries(pcd_to_pointcloud pcl_io ${Boost_LIBRARIES} ${catkin_LIBRARIES} ${PCL_LIBRARIES})
 
-add_executable (pointcloud_to_pcd tools/pointcloud_to_pcd.cpp)
-target_link_libraries (pointcloud_to_pcd pcl_io ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_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})
 
-add_executable (bag_to_pcd tools/bag_to_pcd.cpp)
-target_link_libraries (bag_to_pcd pcl_io pcl_ros_tf ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_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})
 
-add_executable (convert_pcd_to_image tools/convert_pcd_to_image.cpp)
-target_link_libraries (convert_pcd_to_image pcl_io pcl_common ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_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})
 
-add_executable (convert_pointcloud_to_image tools/convert_pointcloud_to_image.cpp)
-target_link_libraries (convert_pointcloud_to_image pcl_io ${PCL_LIBRARIES} ${Boost_LIBRARIES} ${catkin_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})
 
 
 install(DIRECTORY include/${PROJECT_NAME}/
-        DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION})
 
-install(TARGETS pcl_ros_tf pcl_ros_io pcl_ros_features pcl_ros_filters pcl_ros_surface pcl_ros_segmentation pcd_to_pointcloud pointcloud_to_pcd bag_to_pcd convert_pcd_to_image convert_pointcloud_to_image
-        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+install(
+  TARGETS
+    pcl_ros_tf
+    pcl_ros_io
+    pcl_ros_features
+    pcl_ros_filters
+    pcl_ros_surface
+    pcl_ros_segmentation
+    pcd_to_pointcloud
+    pointcloud_to_pcd
+    bag_to_pcd
+    convert_pcd_to_image
+    convert_pointcloud_to_image
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 )
 
-# these target locations are deprecated and will be dropped in Hydro!
-#install(TARGETS pcd_to_pointcloud pointcloud_to_pcd bag_to_pcd convert_pcd_to_image convert_pointcloud_to_image
-#  DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
-
 install(FILES pcl_nodelets.xml DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-