diff --git a/costmap_2d/CMakeLists.txt b/costmap_2d/CMakeLists.txt
index 2a5b903428..00365b834d 100644
--- a/costmap_2d/CMakeLists.txt
+++ b/costmap_2d/CMakeLists.txt
@@ -18,6 +18,7 @@ find_package(catkin REQUIRED
             sensor_msgs
             std_msgs
             tf
+            visualization_msgs
             voxel_grid
         )
 
@@ -60,8 +61,6 @@ generate_dynamic_reconfigure_options(
 catkin_package(
     INCLUDE_DIRS
         include
-        ${EIGEN_INCLUDE_DIRS}
-        ${PCL_INCLUDE_DIRS}
     LIBRARIES costmap_2d layers
     CATKIN_DEPENDS
         dynamic_reconfigure
@@ -77,6 +76,7 @@ catkin_package(
         sensor_msgs
         std_msgs
         tf
+        visualization_msgs
         voxel_grid
     DEPENDS
         PCL
@@ -96,7 +96,7 @@ add_library(costmap_2d
   src/footprint.cpp
   src/costmap_layer.cpp
 )
-add_dependencies(costmap_2d geometry_msgs_gencpp)
+add_dependencies(costmap_2d ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(costmap_2d
   ${PCL_LIBRARIES}
   ${Boost_LIBRARIES}
@@ -114,18 +114,17 @@ target_link_libraries(layers
   costmap_2d
 )
 
-add_dependencies(costmap_2d costmap_2d_gencfg)
-add_dependencies(layers costmap_2d_gencfg)
-add_dependencies(costmap_2d costmap_2d_gencpp)
+add_dependencies(costmap_2d costmap_2d_gencfg ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(layers costmap_2d_gencfg ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(costmap_2d_markers src/costmap_2d_markers.cpp)
-add_dependencies(costmap_2d_markers visualization_msgs_gencpp)
+add_dependencies(costmap_2d_markers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(costmap_2d_markers
     costmap_2d
     )
 
 add_executable(costmap_2d_cloud src/costmap_2d_cloud.cpp)
-add_dependencies(costmap_2d_cloud sensor_msgs_gencpp)
+add_dependencies(costmap_2d_cloud ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(costmap_2d_cloud
     costmap_2d
     )
diff --git a/navfn/CMakeLists.txt b/navfn/CMakeLists.txt
index ad01c3a487..0a31d9ba74 100644
--- a/navfn/CMakeLists.txt
+++ b/navfn/CMakeLists.txt
@@ -6,11 +6,13 @@ find_package(catkin REQUIRED
         cmake_modules
         costmap_2d
         geometry_msgs
+        message_generation
         nav_core
         nav_msgs
         pcl_conversions
         pcl_ros
         pluginlib
+        rosconsole
         roscpp
         tf
         visualization_msgs
@@ -38,9 +40,7 @@ add_service_files(
 
 generate_messages(
     DEPENDENCIES
-        std_msgs
         geometry_msgs
-        nav_msgs
 )
 
 catkin_package(
@@ -49,9 +49,13 @@ catkin_package(
     LIBRARIES
         navfn
     CATKIN_DEPENDS
+        geometry_msgs
+        message_runtime
         nav_core
-        roscpp
+        nav_msgs
         pluginlib
+        roscpp
+        visualization_msgs
 )
 
 add_library (navfn src/navfn.cpp src/navfn_ros.cpp)
diff --git a/navfn/package.xml b/navfn/package.xml
index f1b8f00537..691eab2577 100644
--- a/navfn/package.xml
+++ b/navfn/package.xml
@@ -24,6 +24,7 @@
     <build_depend>cmake_modules</build_depend>
     <build_depend>costmap_2d</build_depend>
     <build_depend>geometry_msgs</build_depend>
+    <build_depend>message_generation</build_depend>
     <build_depend>nav_core</build_depend>
     <build_depend>nav_msgs</build_depend>
     <build_depend>netpbm</build_depend> <!-- This is a test dependency -->
@@ -37,6 +38,7 @@
 
     <run_depend>costmap_2d</run_depend>
     <run_depend>geometry_msgs</run_depend>
+    <run_depend>message_runtime</run_depend>
     <run_depend>nav_core</run_depend>
     <run_depend>nav_msgs</run_depend>
     <run_depend>pcl_conversions</run_depend>
@@ -47,6 +49,8 @@
     <run_depend>tf</run_depend>
     <run_depend>visualization_msgs</run_depend>
 
+    <test_depend>rosunit</test_depend>
+
     <export>
         <nav_core plugin="${prefix}/bgp_plugin.xml" />
     </export>
diff --git a/robot_pose_ekf/CMakeLists.txt b/robot_pose_ekf/CMakeLists.txt
index 0b26f99208..8c623d4777 100644
--- a/robot_pose_ekf/CMakeLists.txt
+++ b/robot_pose_ekf/CMakeLists.txt
@@ -35,7 +35,12 @@ generate_messages(
 
 catkin_package(
     CATKIN_DEPENDS
+        geometry_msgs
+        message_runtime
+        nav_msgs
         roscpp
+        sensor_msgs
+        std_msgs
 )
 
 include_directories(
@@ -53,7 +58,7 @@ target_link_libraries(robot_pose_ekf
     ${Boost_LIBRARIES}
     ${BFL_LIBRARIES}
     )
-add_dependencies(robot_pose_ekf robot_pose_ekf_gencpp)
+add_dependencies(robot_pose_ekf ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 install(
     TARGETS
@@ -84,6 +89,7 @@ target_link_libraries(test_robot_pose_ekf
     ${BFL_LIBRARIES}
     gtest
     )
+add_dependencies(test_robot_pose_ekf ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 catkin_download_test_data(
   download_data_zero_covariance.bag
@@ -98,6 +104,7 @@ target_link_libraries(test_robot_pose_ekf_zero_covariance
     ${BFL_LIBRARIES}
     gtest
     )
+add_dependencies(test_robot_pose_ekf_zero_covariance ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 # This has to be done after we've already built targets, or catkin variables get borked
 find_package(rostest)
diff --git a/robot_pose_ekf/package.xml b/robot_pose_ekf/package.xml
index 8d8e14e23e..688b780a07 100644
--- a/robot_pose_ekf/package.xml
+++ b/robot_pose_ekf/package.xml
@@ -15,6 +15,7 @@
 
     <buildtool_depend version_gte="0.5.68">catkin</buildtool_depend>
 
+    <build_depend>message_generation</build_depend>
     <build_depend>roscpp</build_depend>
     <build_depend>rostest</build_depend>
     <build_depend>bfl</build_depend>
@@ -24,6 +25,7 @@
     <build_depend>nav_msgs</build_depend>
     <build_depend>tf</build_depend>
 
+    <run_depend>message_runtime</run_depend>
     <run_depend>roscpp</run_depend>
     <run_depend>rostest</run_depend>
     <run_depend>bfl</run_depend>