diff --git a/manifest.xml b/manifest.xml
deleted file mode 100644
index 1c4e8b1d..00000000
--- a/manifest.xml
+++ /dev/null
@@ -1,37 +0,0 @@
-<package>
-  <description brief="PCL - ROS (Unstable)">
-
-<p>
-  PCL (Point Cloud Library) ROS interface package. PCL-ROS is the preferred
-  bridge for 3D applications involving n-D Point Clouds and 3D geometry
-  processing in ROS. The package contains powerful nodelet interfaces for PCL
-  algorithms, accepts dynamic reconfiguration of parameters, and supports
-  multiple threading natively for large scale PPG (Perception Processing
-  Graphs) construction and usage.
-</p>
-
-  </description>
-
-  <author>Maintained by Open Perception</author>
-  <license>BSD</license>
-  <url>http://ros.org/wiki/pcl_ros</url>
-  <review status="doc reviewed" notes=""/>
-
-  <!-- ROS dependencies -->
-  <depend package="roscpp" />
-  <depend package="rosbag" />
-  <depend package="geometry_msgs" />
-  <depend package="message_filters" />
-  <depend package="tf" />
-
-  <!-- Eigen -->
-  <depend package="common_rosdeps" />
-  <rosdep name="eigen" />
-
-  <!-- PCL -->
-  <depend package="pcl" />
-
-  <export>
-    <cpp cflags="-I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib -lpcl_ros_tf" />
-  </export>
-</package>
diff --git a/stack.xml b/stack.xml
new file mode 100644
index 00000000..8841eca1
--- /dev/null
+++ b/stack.xml
@@ -0,0 +1,25 @@
+<stack>
+  <name>perception_pcl</name>
+  <version>1.0.4</version>
+  <description brief="Point Cloud Library interface package">
+<p>
+  PCL (Point Cloud Library) ROS interface package. 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>  
+  <review status="Doc reviewed" notes=""/>
+  <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>
+
+  <depends>pcl</depends>
+  <depends>eigen</depends>
+</stack>