diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7a62a9e35..95626b5a3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -104,13 +104,6 @@ endmacro()
 
 include(FindPkgConfig)
 
-PKG_CHECK_MODULES(gsl REQUIRED gsl)
-include_directories(${gsl_INCLUDE_DIRS})
-link_directories(${gsl_LIBRARIES_DIRS})
-
-PKG_CHECK_MODULES(eigen REQUIRED eigen3)
-include_directories(${eigen_INCLUDE_DIRS})
-
 
 link_directories(${INTERFACES_CPP_DIR}/jderobot)
 FOREACH(LibFile ${LIBS_NEEDED})
@@ -122,8 +115,7 @@ ENDFOREACH(LibFile)
 
 include(Deps/LoadJderobotDependencies.cmake)
 
-list(APPEND DEPS libgsl2 gsl-bin)
-list(APPEND DEPS_DEV git cmake make gcc-5 g++-5 gcc g++ pkg-config libeigen3-dev libgsl-dev libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev)
+list(APPEND DEPS_DEV git cmake make gcc-5 g++-5 gcc g++ pkg-config libgstreamer0.10-dev libgstreamer-plugins-base0.10-dev)
 list(APPEND DEPS_DEV "${DEPS}")
 
 # list(APPEND uses ; separator. We need ,
diff --git a/Deps/eigen3/CMakeLists.txt b/Deps/eigen3/CMakeLists.txt
new file mode 100644
index 000000000..a24f88d2c
--- /dev/null
+++ b/Deps/eigen3/CMakeLists.txt
@@ -0,0 +1,4 @@
+PKG_CHECK_MODULES(eigen REQUIRED eigen3)
+include_directories(${eigen_INCLUDE_DIRS})
+
+list(APPEND DEPS_DEV libeigen3-dev )
\ No newline at end of file
diff --git a/Deps/gsl/CMakeLists.txt b/Deps/gsl/CMakeLists.txt
new file mode 100644
index 000000000..8efcf30fc
--- /dev/null
+++ b/Deps/gsl/CMakeLists.txt
@@ -0,0 +1,6 @@
+PKG_CHECK_MODULES(gsl REQUIRED gsl)
+include_directories(${gsl_INCLUDE_DIRS})
+link_directories(${gsl_LIBRARIES_DIRS})
+
+list(APPEND DEPS libgsl2 gsl-bin)
+list(APPEND DEPS_DEV libgsl-dev)
\ No newline at end of file
diff --git a/Deps/ros/CMakeLists.txt b/Deps/ros/CMakeLists.txt
index f1210ecdd..ca1b33ac7 100644
--- a/Deps/ros/CMakeLists.txt
+++ b/Deps/ros/CMakeLists.txt
@@ -6,7 +6,19 @@ if(roscpp_FOUND)
 
     SET (CMAKE_PREFIX_PATH /opt/ros/kinetic)
 
-	list(APPEND DEPS ros-kinetic-roscpp ros-kinetic-std-msgs ros-kinetic-message-generation ros-kinetic-cv-bridge ros-kinetic-image-transport ros-kinetic-roscpp-core ros-kinetic-rospy)
+    usePython(2)
+    set (CATKIN_BUILD_BINARY_PACKAGE 1) #doesn't add ROS environment files to package
+
+    find_package(catkin REQUIRED COMPONENTS
+      roscpp
+      std_msgs
+      cv_bridge
+      image_transport
+      nav_msgs
+      geometry_msgs
+    )
+
+	list(APPEND DEPS ros-kinetic-roscpp ros-kinetic-std-msgs ros-kinetic-cv-bridge ros-kinetic-image-transport ros-kinetic-roscpp-core ros-kinetic-rospy ros-kinetic-nav-msgs ros-kinetic-geometry-msgs)
 
 #	list(APPEND DEPS_DEV )
 else()
diff --git a/src/libs/jderobotcomm_cpp/CMakeLists.txt b/src/libs/jderobotcomm_cpp/CMakeLists.txt
index 429393240..9801f6d4d 100644
--- a/src/libs/jderobotcomm_cpp/CMakeLists.txt
+++ b/src/libs/jderobotcomm_cpp/CMakeLists.txt
@@ -6,16 +6,6 @@ if(roscpp_FOUND)
 
     list(APPEND Ice_LIBRARIES Ice IceUtil)
 
-    SET (CATKIN_DEVEL_PREFIX ${CMAKE_CURRENT_SOURCE_DIR})
-
-    find_package(catkin REQUIRED COMPONENTS
-      roscpp
-      std_msgs
-      cv_bridge
-      image_transport
-      nav_msgs
-      geometry_msgs
-    )
 
     catkin_package(
       CATKIN_DEPENDS roscpp std_msgs message_runtime
diff --git a/src/libs/jderobotcomm_cpp/package.xml b/src/libs/jderobotcomm_cpp/package.xml
index 70add0157..c2daaf6fd 100644
--- a/src/libs/jderobotcomm_cpp/package.xml
+++ b/src/libs/jderobotcomm_cpp/package.xml
@@ -42,9 +42,18 @@
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
   <build_depend>std_msgs</build_depend>
+  <build_depend>cv_bridge</build_depend>
+  <build_depend>image_transport</build_depend>
+  <build_depend>nav_msgs</build_depend>
+  <build_depend>geometry_msgs</build_depend>
+
   <run_depend>message_runtime</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>std_msgs</run_depend>
+  <run_depend>cv_bridge</run_depend>
+  <run_depend>image_transport</run_depend>
+  <run_depend>nav_msgs</run_depend>
+  <run_depend>geometry_msgs</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->