diff --git a/README.md b/README.md
index 04c0e552..a011e439 100644
--- a/README.md
+++ b/README.md
@@ -37,7 +37,9 @@ Michael Burri, Helen Oleynikova, Markus Achtelik, and Roland Siegwart, “**Real
 ## Installation Instructions (Ubuntu)
 To install this package with [ROS Indigo](http://wiki.ros.org/indigo/Installation/Ubuntu) or [ROS Kinetic](http://wiki.ros.org/kinetic/Installation/Ubuntu):
 
-1. Install additional system dependencies (swap indigo for kinetic as necessary):
+1. Install additional system dependencies (swap indigo for kinetic or melodic as necessary):
+
+** Note: ROS melodic requires libyaml-cpp-dev and does not build with yaml_cpp_catkin in your catkin workspace!
 
 ```
 sudo apt-get install python-wstool python-catkin-tools ros-indigo-cmake-modules libyaml-cpp-dev
@@ -64,7 +66,7 @@ wstool update
 wstool merge mav_trajectory_generation/install/mav_trajectory_generation_https.rosinstall
 wstool update -j8
 echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
-source ~/.bashrc
+source /opt/ros/indigo/setup.bash
 ```
 
 In case you have your SSH keys for github set up, feel free to use the ssh rosinstall instead:
diff --git a/install/mav_trajectory_generation_https.rosinstall b/install/mav_trajectory_generation_https.rosinstall
index c6cd1152..6a7b398a 100644
--- a/install/mav_trajectory_generation_https.rosinstall
+++ b/install/mav_trajectory_generation_https.rosinstall
@@ -1,3 +1,4 @@
+- git: {local-name: catkin_simple, uri: 'https://github.com/catkin/catkin_simple.git'}
 - git: {local-name: eigen_catkin, uri: 'https://github.com/ethz-asl/eigen_catkin.git'}
 - git: {local-name: eigen_checks, uri: 'https://github.com/ethz-asl/eigen_checks.git'}
 - git: {local-name: glog_catkin, uri: 'https://github.com/ethz-asl/glog_catkin.git'}
diff --git a/install/mav_trajectory_generation_ssh.rosinstall b/install/mav_trajectory_generation_ssh.rosinstall
index 8198b65a..5e6a97d0 100644
--- a/install/mav_trajectory_generation_ssh.rosinstall
+++ b/install/mav_trajectory_generation_ssh.rosinstall
@@ -1,3 +1,4 @@
+- git: {local-name: catkin_simple, uri: 'git@github.com:catkin/catkin_simple.git'}
 - git: {local-name: eigen_catkin, uri: 'git@github.com:ethz-asl/eigen_catkin.git'}
 - git: {local-name: eigen_checks, uri: 'git@github.com:ethz-asl/eigen_checks.git'}
 - git: {local-name: glog_catkin, uri: 'git@github.com:ethz-asl/glog_catkin.git'}
diff --git a/mav_trajectory_generation/package.xml b/mav_trajectory_generation/package.xml
index 320d7314..77126715 100644
--- a/mav_trajectory_generation/package.xml
+++ b/mav_trajectory_generation/package.xml
@@ -19,9 +19,10 @@
 
   <depend>cmake_modules</depend>
   <depend>eigen_catkin</depend>
-  <depend>yaml_cpp_catkin</depend>
   <depend>eigen_checks</depend>
   <depend>glog_catkin</depend>
   <depend>mav_msgs</depend>
   <depend>nlopt</depend>
+
+  <exec_depend>yaml_cpp_catkin</exec_depend>
 </package>