diff --git a/CMakeLists.txt b/CMakeLists.txt
index 895a37d7b144faa8266e10e54f157cd2b038a5d8..0f6a9045139a17a09a268b32bffef8f3a3c39da3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ project(iri_ground_segmentation)
 
 set(CMAKE_PREFIX_PATH
     ${CMAKE_PREFIX_PATH}
-    $/usr/local/lib/iridrivers
+#    $/usr/local/lib/iridrivers
 )
 
 if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE)
@@ -38,7 +38,7 @@ find_package(catkin REQUIRED COMPONENTS iri_base_algorithm message_generation cv
 #           Add system and labrobotica dependencies here
 # ******************************************************************** 
 find_package(PCL REQUIRED COMPONENTS common filters)
-find_package(kf_based_terrain_analysis REQUIRED)
+#find_package(kf_based_terrain_analysis REQUIRED)
 
 
 # ******************************************************************** 
@@ -92,7 +92,7 @@ catkin_package(
 # ******************************************************************** 
 #      Add system and labrobotica run time dependencies here
 # ******************************************************************** 
-#  DEPENDS kf_based_terrain_analysis mhekf_tracking
+##  DEPENDS kf_based_terrain_analysis mhekf_tracking
 )
 
 SET(CMAKE_CXX_STANDARD 11)
@@ -106,7 +106,7 @@ SET(CMAKE_CXX_STANDARD 11)
 include_directories(include)
 include_directories(${catkin_INCLUDE_DIRS})
 include_directories(${PCL_INCLUDE_DIRS})
-include_directories(${kf_based_terrain_analysis_INCLUDE_DIRS})
+#include_directories(${kf_based_terrain_analysis_INCLUDE_DIRS})
 # include_directories(${<dependency>_INCLUDE_DIR})
 
 ## Declare a cpp library
@@ -120,8 +120,10 @@ add_executable(${PROJECT_NAME} src/ground_segmentation_alg.cpp src/ground_segmen
 # ******************************************************************** 
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 target_link_libraries(${PROJECT_NAME} ${PCL_LIBRARIES})
-target_link_libraries(${PROJECT_NAME} ${kf_based_terrain_analysis_LIBRARY})
+#target_link_libraries(${PROJECT_NAME} ${kf_based_terrain_analysis_LIBRARY})
 # target_link_libraries(${PROJECT_NAME} ${<dependency>_LIBRARY})
+add_subdirectory(kf_based_terrain_analysis)
+target_link_libraries(${PROJECT_NAME} kf_based_terrain_analysis)
 
 # ******************************************************************** 
 #               Add message headers dependencies 
diff --git a/include/ground_segmentation_alg.h b/include/ground_segmentation_alg.h
index 332add5fefd4ce87f91a212c4c9dca66d0c5a70d..1c3bc1b6fa84d23f9207713eb186e79ab17b443e 100644
--- a/include/ground_segmentation_alg.h
+++ b/include/ground_segmentation_alg.h
@@ -27,7 +27,8 @@
 
 #include <iri_ground_segmentation/GroundSegmentationConfig.h>
 
-#include <iridrivers/kf_based_terrain_analysis.h>
+//#include <iridrivers/kf_based_terrain_analysis.h>
+#include <../kf_based_terrain_analysis/include/kf_based_terrain_analysis.h>
 
 #include <sensor_msgs/PointCloud2.h>
 #include <pcl_conversions/pcl_conversions.h>
diff --git a/include/ground_segmentation_alg_node.h b/include/ground_segmentation_alg_node.h
index 66ce27be4db47475aa0348c4e5107aaaf3fc2983..3818fbf7530c728101b62d1729753e769d516e2d 100644
--- a/include/ground_segmentation_alg_node.h
+++ b/include/ground_segmentation_alg_node.h
@@ -26,7 +26,8 @@
 #define _ground_segmentation_alg_node_h_
 
 #include <iri_base_algorithm/iri_base_algorithm.h>
-#include <iridrivers/kf_based_terrain_analysis.h>
+//#include <iridrivers/kf_based_terrain_analysis.h>
+#include <../kf_based_terrain_analysis/include/kf_based_terrain_analysis.h>
 
 // [publisher subscriber headers]
 #include "ground_segmentation_alg.h"