diff --git a/CMakeLists.txt b/CMakeLists.txt
index c531939b..b9fb420a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,18 +3,15 @@ cmake_minimum_required(VERSION 2.8)
 project(perception_pcl)
 
 # Deal with catkin
-find_package(catkin REQUIRED)
-catkin_stack()
+find_package(catkin REQUIRED roscpp sensor_msgs)
+find_package(PCL)
+find_package(eigen)
 
 # deal with ROS
 include_directories(${catkin_INCLUDE_DIRS})
 link_directories(${catkin_LIBRARY_DIRS})
 
-find_package(PCL)
-find_package(eigen)
-
-include_directories(SYSTEM ${PCL_INCLUDE_DIRS} ${eigen_INCLUDE_DIRS})
-include_directories(include)
+catkin_stack()
 
 catkin_project(${PROJECT_NAME}
   INCLUDE_DIRS include 
@@ -22,6 +19,20 @@ catkin_project(${PROJECT_NAME}
   DEPENDS  PCL eigen 
 )
 
-# ---[ Point Cloud Library - Transforms
-add_library (pcl_ros_tf src/transforms.cpp)
+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})
+
+install(DIRECTORY include/
+        DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION}
+)
+
+install(TARGETS pcl_ros_tf
+        RUNTIME DESTINATION ${CATKIN_PROJECT_BIN_DESTINATION}
+        ARCHIVE DESTINATION ${CATKIN_PROJECT_LIB_DESTINATION}
+        LIBRARY DESTINATION ${CATKIN_PROJECT_LIB_DESTINATION}
+)
diff --git a/Makefile b/Makefile
deleted file mode 100644
index bbd3fc60..00000000
--- a/Makefile
+++ /dev/null
@@ -1 +0,0 @@
-include $(shell rospack find mk)/cmake.mk