diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9f780ed..1150c04 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,11 +29,23 @@ set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
 set(dbot_INCLUDE_DIRS "include")
 set(dbot_LIBRARY ${PROJECT_NAME})
 set(dbot_LIBRARY_GPU ${dbot_LIBRARY}_gpu)
-set(dbot_LIBRARIES ${dbot_LIBRARY})
+
+############################
+# Exports                  #
+############################
+set(dbot_FOUND 1 PARENT_SCOPE)
+set(dbot_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/include PARENT_SCOPE)
+set(dbot_LIBRARIES ${dbot_LIBRARY} PARENT_SCOPE)
+set(dbot_DEFINITIONS ${Eigen_DEFINITIONS} PARENT_SCOPE)
+set(dbot_DEPENDS Eigen PARENT_SCOPE)
 
 ############################
 # Dependencies             #
 ############################
+if(NOT fl_FOUND)
+    find_package(fl REQUIRED)
+endif(NOT fl_FOUND)
+
 if(NOT osr_FOUND)
     find_package(osr REQUIRED)
 endif(NOT osr_FOUND)
@@ -41,6 +53,7 @@ endif(NOT osr_FOUND)
 find_package(Eigen REQUIRED)
 find_package(Boost REQUIRED)
 
+include_directories(${fl_INCLUDE_DIRS})
 include_directories(${osr_INCLUDE_DIRS})
 include_directories(${Eigen_INCLUDE_DIRS})
 include_directories(${Boost_INCLUDE_DIRS})
@@ -81,22 +94,6 @@ if(BUILD_DBOT_ON_GPU)
     list(APPEND dbot_LIBRARIES ${PROJECT_NAME}_gpu)
 endif(BUILD_DBOT_ON_GPU)
 
-############################
-## catkin                  #
-############################
-find_package(catkin REQUIRED fl)
-
-catkin_package(
-    INCLUDE_DIRS
-        ${dbot_INCLUDE_DIRS}
-    LIBRARIES
-        ${dbot_LIBRARIES}
-    CATKIN_DEPENDS
-        fl
-    DEPENDS
-        Eigen
-)
-
 ############################
 ## dbot library            #
 ############################
diff --git a/package.xml b/package.xml
index 1256ab9..be551f1 100644
--- a/package.xml
+++ b/package.xml
@@ -15,13 +15,8 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>eigen</build_depend>
   <build_depend>fl</build_depend>
-  <build_depend>osr_catkin</build_depend>
-
-  <run_depend>eigen</run_depend>
   <run_depend>fl</run_depend>
-  <run_depend>osr_catkin</run_depend>
 
   <export>
     <!-- <metapackage/> -->