diff --git a/CMakeLists.txt b/CMakeLists.txt
index a8dc02120bb3f3f5e262ccaeb081122a9ddcc2ac..e46efd70c9eea47b607a3bfbe7bf21af64c2db02 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,13 +1,21 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(iri_base_algorithm)
 
+## Add support for C++11, supported in ROS Kinetic and newer
+# add_definitions(-std=c++11)
+
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED)
+find_package(catkin REQUIRED COMPONENTS
+	roscpp
+	dynamic_reconfigure
+	diagnostic_updater
+)
 
 ## System dependencies are found with CMake's conventions
 # find_package(Boost REQUIRED COMPONENTS system)
+find_package(Boost REQUIRED COMPONENTS system thread)
 
 ## Uncomment this if the package has a setup.py. This macro ensures
 ## modules and global scripts declared therein get installed
@@ -79,6 +87,7 @@ catkin_package(
 #  LIBRARIES ${PROJECT_NAME}
   CATKIN_DEPENDS roscpp dynamic_reconfigure diagnostic_updater
 #  DEPENDS system_lib
+  DEPENDS Boost
 )
 
 ###########
@@ -88,6 +97,9 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 # include_directories(include)
+include_directories(
+	${catkin_INCLUDE_DIRS}
+)
 
 ## Declare a cpp library
 # add_library(foo
diff --git a/package.xml b/package.xml
index 1d862c03165119a64e622edbfffcbccf3eb16614..b4ef11583645600b365b934f4c773f23e86e7a28 100644
--- a/package.xml
+++ b/package.xml
@@ -33,16 +33,26 @@
   <!-- Dependencies can be catkin packages or system dependencies -->
   <!-- Examples: -->
   <!-- Use build_depend for packages you need at compile time: -->
-  <build_depend>roscpp</build_depend>
-  <build_depend>dynamic_reconfigure</build_depend>
-  <build_depend>diagnostic_updater</build_depend>
+  <!--   <build_depend>message_generation</build_depend> -->
   <!-- Use buildtool_depend for build tool packages: -->
   <!--   <buildtool_depend>catkin</buildtool_depend> -->
   <!-- Use run_depend for packages you need at runtime: -->
-  <run_depend>roscpp</run_depend>
-  <run_depend>dynamic_reconfigure</run_depend>
-  <run_depend>diagnostic_updater</run_depend>
+  <!--   <run_depend>message_runtime</run_depend> -->
   <!-- Use test_depend for packages you need only for testing: -->
   <!--   <test_depend>gtest</test_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>dynamic_reconfigure</build_depend>
+  <build_depend>diagnostic_updater</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>dynamic_reconfigure</run_depend>
+  <run_depend>diagnostic_updater</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+
 </package>