diff --git a/CMakeLists.txt b/CMakeLists.txt
index 963f324a780fb2db0fc0e80e50f33a14b9f46afa..e57fb00ebe8f0fafc220c04956cff2d81e273a2b 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,12 +11,9 @@ find_package(catkin REQUIRED COMPONENTS
   roscpp
   rospy
   sensor_msgs
-  std_msgs
-  tf
-  dynamic_reconfigure
-  wolf_ros_node
   cv_bridge
   image_transport
+  wolf_ros_node
 )
 
 
diff --git a/include/publisher_vision.h b/include/publisher_vision.h
index 4a1ddb4739b9f5638ffef8554294d670b61d948d..08405e98f858cd9086797902ef04c8f8bf8ae051 100644
--- a/include/publisher_vision.h
+++ b/include/publisher_vision.h
@@ -23,15 +23,19 @@
 #define PUBLISHER_VISION_DEBUG_H_
 
 
+/**************************
+ *    WOLF ROS includes   *
+ **************************/
+#include "publisher.h"
+
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include "core/common/wolf.h"
-#include "vision/processor/processor_visual_odometry.h"
+#include <core/common/wolf.h>
+#include <vision/processor/processor_visual_odometry.h>
 #include <core/utils/params_server.h>
 
-#include "publisher.h"
-
 /**************************
  *      ROS includes      *
  **************************/
diff --git a/include/subscriber_camera.h b/include/subscriber_camera.h
index c9e67e378fb611b3e1a49d8d4b8af714792a2a07..1fc4049c9f47a9fff3e55d0a8322ae936020068c 100644
--- a/include/subscriber_camera.h
+++ b/include/subscriber_camera.h
@@ -22,15 +22,21 @@
 #ifndef SUBSCRIBER_CAMERA_H_
 #define SUBSCRIBER_CAMERA_H_
 
+/**************************
+ *    WOLF-ROS includes   *
+ **************************/
+#include "subscriber.h"
+
+
 /**************************
  *      WOLF includes     *
  **************************/
-#include "core/yaml/parser_yaml.h"
-#include "core/common/wolf.h"
-#include "core/problem/problem.h"
-#include "core/utils/params_server.h"
-#include "vision/capture/capture_image.h"
-#include "vision/sensor/sensor_camera.h"
+#include <core/yaml/parser_yaml.h>
+#include <core/common/wolf.h>
+#include <core/problem/problem.h>
+#include <core/utils/params_server.h>
+#include <vision/capture/capture_image.h>
+#include <vision/sensor/sensor_camera.h>
 
 /**************************
  *      ROS includes      *
@@ -46,10 +52,6 @@
 #include <iomanip>
 #include <queue>
 
-/**************************
- *    WOLF-ROS includes   *
- **************************/
-#include "subscriber.h"
 
 namespace wolf
 {
diff --git a/package.xml b/package.xml
index 7e5705bbbe87e0df0a99fb82a746aaf53a44f1f5..14af181d5567aafc39ce45d2c5ab325b52d55a05 100644
--- a/package.xml
+++ b/package.xml
@@ -13,20 +13,14 @@
   <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
   <build_depend>sensor_msgs</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>tf</build_depend>
   <build_depend>wolf_ros_node</build_depend>
 
   <build_export_depend>roscpp</build_export_depend>
   <build_export_depend>sensor_msgs</build_export_depend>
-  <build_export_depend>std_msgs</build_export_depend>
-  <build_export_depend>tf</build_export_depend>
   
   <exec_depend>roscpp</exec_depend>
   <exec_depend>rospy</exec_depend>
   <exec_depend>sensor_msgs</exec_depend>
-  <exec_depend>std_msgs</exec_depend>
-  <exec_depend>tf</exec_depend>
   <exec_depend>wolf_ros_node</exec_depend>
 
   <export>