diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7f910b6..e0d79d8 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,34 +1,36 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(laser_line_extraction)
 
-find_package(catkin REQUIRED COMPONENTS
-  cmake_modules
-  geometry_msgs
-  message_generation
-  roscpp
-  rospy
-  sensor_msgs
-  visualization_msgs
-)
+find_package(catkin QUIET COMPONENTS cmake_modules geometry_msgs 
+    message_generation roscpp rospy sensor_msgs visualization_msgs)
 
 find_package(Eigen3 REQUIRED)
 
-add_message_files(
-  FILES
-  LineSegment.msg
-  LineSegmentList.msg
-)
+if (catkin_FOUND)
+    message(STATUS "Catkin found. Compiling ROS components.")
+    add_message_files(
+      FILES
+      LineSegment.msg
+      LineSegmentList.msg
+    )
+
+    generate_messages(
+      DEPENDENCIES
+      sensor_msgs
+    )
+
+    catkin_package(
+      INCLUDE_DIRS include
+      LIBRARIES line line_extraction line_extraction_ros
+      CATKIN_DEPENDS geometry_msgs message_runtime roscpp sensor_msgs visualization_msgs
+    )
+else()
+    message(STATUS "Catkin NOT found. Ommitting ROS components.")
+endif()
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
 
-generate_messages(
-  DEPENDENCIES
-  sensor_msgs
-)
-
-catkin_package(
-  INCLUDE_DIRS include
-  LIBRARIES line line_extraction line_extraction_ros
-  CATKIN_DEPENDS geometry_msgs message_runtime roscpp sensor_msgs visualization_msgs
-)
+include_directories(include ${EIGEN3_INCLUDE_DIRS})
 
 add_library(line src/line.cpp)
 target_link_libraries(line ${catkin_LIBRARIES})
@@ -36,17 +38,17 @@ target_link_libraries(line ${catkin_LIBRARIES})
 add_library(line_extraction src/line_extraction.cpp)
 target_link_libraries(line_extraction ${catkin_LIBRARIES})
 
-add_library(line_extraction_ros src/line_extraction_ros.cpp)
-target_link_libraries(line_extraction_ros line line_extraction ${catkin_LIBRARIES})
-add_dependencies(line_extraction_ros laser_line_extraction_generate_messages_cpp)
-
-add_executable(line_extraction_node src/line_extraction_node.cpp)
-target_link_libraries(line_extraction_node line_extraction_ros ${catkin_LIBRARIES})
-
-include_directories(include ${catkin_INCLUDE_DIRS})
-include_directories(include ${EIGEN3_INCLUDE_DIRS})
+if (catkin_FOUND)
+    include_directories(include ${catkin_INCLUDE_DIRS})
 
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_laser_line_extraction.cpp)
+    add_library(line_extraction_ros src/line_extraction_ros.cpp)
+    target_link_libraries(line_extraction_ros line line_extraction ${catkin_LIBRARIES})
+    add_dependencies(line_extraction_ros laser_line_extraction_generate_messages_cpp)
 
-install(TARGETS line_extraction_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-install(TARGETS line_extraction_ros line_extraction line ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+    add_executable(line_extraction_node src/line_extraction_node.cpp)
+    target_link_libraries(line_extraction_node line_extraction_ros ${catkin_LIBRARIES})
+    
+    #catkin_add_gtest(${PROJECT_NAME}-test test/test_laser_line_extraction.cpp)
+    install(TARGETS line_extraction_node RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+    install(TARGETS line_extraction_ros line_extraction line ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION})
+endif()