diff --git a/controller_manager/CMakeLists.txt b/controller_manager/CMakeLists.txt
index 7b161f236..5052746db 100644
--- a/controller_manager/CMakeLists.txt
+++ b/controller_manager/CMakeLists.txt
@@ -7,6 +7,7 @@ find_package(catkin REQUIRED COMPONENTS
   controller_manager_msgs
   hardware_interface
   pluginlib
+  roscpp
 )
 
 # Include Boost.Thread
@@ -25,6 +26,7 @@ catkin_package(
     controller_manager_msgs
     hardware_interface
     pluginlib
+    roscpp
   DEPENDS
     Boost
 )
diff --git a/controller_manager/package.xml b/controller_manager/package.xml
index e25e77533..c42d1c4fc 100644
--- a/controller_manager/package.xml
+++ b/controller_manager/package.xml
@@ -22,6 +22,7 @@
   <depend>controller_manager_msgs</depend>
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>
+  <depend>roscpp</depend>
 
   <test_depend>rostest</test_depend>
 </package>
diff --git a/controller_manager_tests/CMakeLists.txt b/controller_manager_tests/CMakeLists.txt
index 71aa3d0aa..66292b49a 100644
--- a/controller_manager_tests/CMakeLists.txt
+++ b/controller_manager_tests/CMakeLists.txt
@@ -5,6 +5,7 @@ project(controller_manager_tests)
 find_package(catkin REQUIRED COMPONENTS
   controller_interface
   controller_manager
+  roscpp
 )
 
 catkin_python_setup()
diff --git a/controller_manager_tests/package.xml b/controller_manager_tests/package.xml
index c7f4e52cb..97f57fa02 100644
--- a/controller_manager_tests/package.xml
+++ b/controller_manager_tests/package.xml
@@ -20,6 +20,7 @@
 
   <depend>controller_interface</depend>
   <depend>controller_manager</depend>
+  <depend>roscpp</depend>
 
   <test_depend>rosbash</test_depend>
   <test_depend>rosnode</test_depend>
diff --git a/joint_limits_interface/CMakeLists.txt b/joint_limits_interface/CMakeLists.txt
index cc71b9ca7..fdb0d1afd 100644
--- a/joint_limits_interface/CMakeLists.txt
+++ b/joint_limits_interface/CMakeLists.txt
@@ -17,7 +17,8 @@ catkin_package(
     include
   CATKIN_DEPENDS
     hardware_interface
-    roscpp urdf
+    roscpp
+    urdf
   DEPENDS
     urdfdom
 )
diff --git a/rqt_controller_manager/CMakeLists.txt b/rqt_controller_manager/CMakeLists.txt
index 69067a88a..f024e97fa 100644
--- a/rqt_controller_manager/CMakeLists.txt
+++ b/rqt_controller_manager/CMakeLists.txt
@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(rqt_controller_manager)
 
 # Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED COMPONENTS)
+find_package(catkin REQUIRED)
 
 catkin_python_setup()
 
diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/package.xml
index b1531a555..939b26144 100644
--- a/rqt_controller_manager/package.xml
+++ b/rqt_controller_manager/package.xml
@@ -20,6 +20,7 @@
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>rqt_gui</exec_depend>
+  <exec_depend>rospy</exec_depend>
 
   <export>
     <rqt_gui plugin="${prefix}/plugin.xml"/>