diff --git a/amcl/CMakeLists.txt b/amcl/CMakeLists.txt
index 90cca7b1fb..6f7fb8dfdd 100644
--- a/amcl/CMakeLists.txt
+++ b/amcl/CMakeLists.txt
@@ -3,8 +3,10 @@ project(amcl)
 
 find_package(catkin REQUIRED
         COMPONENTS
+            message_filters
             rosbag
             roscpp
+            std_srvs
             tf
             dynamic_reconfigure
             nav_msgs
@@ -23,11 +25,12 @@ catkin_package(
         roscpp
         dynamic_reconfigure
         tf
+  CATKIN_DEPENDS nav_msgs std_srvs
   INCLUDE_DIRS include
   LIBRARIES amcl_sensors amcl_map amcl_pf
 )
 
-include_directories(include/amcl include/amcl/map include/amcl/sensors include/amcl/pf)
+include_directories(include)
 include_directories(${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS})
 
 add_library(amcl_pf
@@ -54,7 +57,7 @@ target_link_libraries(amcl_sensors amcl_map amcl_pf)
 
 add_executable(amcl
                        src/amcl_node.cpp)
-add_dependencies(amcl amcl_gencfg)
+add_dependencies(amcl ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(amcl
     amcl_sensors amcl_map amcl_pf
diff --git a/amcl/package.xml b/amcl/package.xml
index 941c1acee2..9176c0a183 100644
--- a/amcl/package.xml
+++ b/amcl/package.xml
@@ -27,7 +27,6 @@
     <build_depend>message_filters</build_depend>
     <build_depend>nav_msgs</build_depend>
     <build_depend>roscpp</build_depend>
-    <build_depend>rostest</build_depend>
     <build_depend>std_srvs</build_depend>
     <build_depend>tf</build_depend>
 
@@ -36,6 +35,8 @@
     <run_depend>dynamic_reconfigure</run_depend>
     <run_depend>tf</run_depend>
     <run_depend>nav_msgs</run_depend>
+    <run_depend>std_srvs</run_depend>
 
+    <test_depend>rostest</test_depend>
     <test_depend>map_server</test_depend>
 </package>
diff --git a/amcl/src/amcl/map/map.c b/amcl/src/amcl/map/map.c
index 970f3395d4..23c96625b0 100644
--- a/amcl/src/amcl/map/map.c
+++ b/amcl/src/amcl/map/map.c
@@ -31,7 +31,7 @@
 #include <string.h>
 #include <stdio.h>
 
-#include "map.h"
+#include "amcl/map/map.h"
 
 
 // Create a new map
diff --git a/amcl/src/amcl/map/map_cspace.cpp b/amcl/src/amcl/map/map_cspace.cpp
index 421f718fb8..a516921e72 100644
--- a/amcl/src/amcl/map/map_cspace.cpp
+++ b/amcl/src/amcl/map/map_cspace.cpp
@@ -23,7 +23,7 @@
 #include <math.h>
 #include <stdlib.h>
 #include <string.h>
-#include "map.h"
+#include "amcl/map/map.h"
 
 class CellData
 {
diff --git a/amcl/src/amcl/map/map_draw.c b/amcl/src/amcl/map/map_draw.c
index 49ed32765f..b1201fd413 100644
--- a/amcl/src/amcl/map/map_draw.c
+++ b/amcl/src/amcl/map/map_draw.c
@@ -33,7 +33,7 @@
 #include <string.h>
 
 #include <rtk.h>
-#include "map.h"
+#include "amcl/map/map.h"
 
 
 ////////////////////////////////////////////////////////////////////////////
diff --git a/amcl/src/amcl/map/map_range.c b/amcl/src/amcl/map/map_range.c
index 1003cf98b1..658619f43d 100644
--- a/amcl/src/amcl/map/map_range.c
+++ b/amcl/src/amcl/map/map_range.c
@@ -30,7 +30,7 @@
 #include <string.h>
 #include <stdlib.h>
 
-#include "map.h"
+#include "amcl/map/map.h"
 
 // Extract a single range reading from the map.  Unknown cells and/or
 // out-of-bound cells are treated as occupied, which makes it easy to
diff --git a/amcl/src/amcl/map/map_store.c b/amcl/src/amcl/map/map_store.c
index 2d811ccc20..7b18d64737 100644
--- a/amcl/src/amcl/map/map_store.c
+++ b/amcl/src/amcl/map/map_store.c
@@ -31,7 +31,7 @@
 #include <stdlib.h>
 #include <string.h>
 
-#include "map.h"
+#include "amcl/map/map.h"
 
 
 ////////////////////////////////////////////////////////////////////////////
diff --git a/amcl/src/amcl/pf/pf.c b/amcl/src/amcl/pf/pf.c
index d0ea85eade..b777c0aabb 100644
--- a/amcl/src/amcl/pf/pf.c
+++ b/amcl/src/amcl/pf/pf.c
@@ -30,9 +30,9 @@
 #include <stdlib.h>
 #include <time.h>
 
-#include "pf.h"
-#include "pf_pdf.h"
-#include "pf_kdtree.h"
+#include "amcl/pf/pf.h"
+#include "amcl/pf/pf_pdf.h"
+#include "amcl/pf/pf_kdtree.h"
 
 
 // Compute the required number of samples, given that there are k bins
diff --git a/amcl/src/amcl/pf/pf_kdtree.c b/amcl/src/amcl/pf/pf_kdtree.c
index 20b3c69473..b625b83310 100644
--- a/amcl/src/amcl/pf/pf_kdtree.c
+++ b/amcl/src/amcl/pf/pf_kdtree.c
@@ -31,8 +31,8 @@
 #include <string.h>
 
 
-#include "pf_vector.h"
-#include "pf_kdtree.h"
+#include "amcl/pf/pf_vector.h"
+#include "amcl/pf/pf_kdtree.h"
 
 
 // Compare keys to see if they are equal
diff --git a/amcl/src/amcl/pf/pf_pdf.c b/amcl/src/amcl/pf/pf_pdf.c
index 6748a00928..e6130cf5c1 100644
--- a/amcl/src/amcl/pf/pf_pdf.c
+++ b/amcl/src/amcl/pf/pf_pdf.c
@@ -32,7 +32,7 @@
 //#include <gsl/gsl_rng.h>
 //#include <gsl/gsl_randist.h>
 
-#include "pf_pdf.h"
+#include "amcl/pf/pf_pdf.h"
 
 // Random number generator seed value
 static unsigned int pf_pdf_seed;
diff --git a/amcl/src/amcl/pf/pf_vector.c b/amcl/src/amcl/pf/pf_vector.c
index 1cdb57369c..80c6fb8fc2 100644
--- a/amcl/src/amcl/pf/pf_vector.c
+++ b/amcl/src/amcl/pf/pf_vector.c
@@ -30,8 +30,8 @@
 //#include <gsl/gsl_eigen.h>
 //#include <gsl/gsl_linalg.h>
 
-#include "pf_vector.h"
-#include "eig3.h"
+#include "amcl/pf/pf_vector.h"
+#include "amcl/pf/eig3.h"
 
 
 // Return a zero vector
diff --git a/amcl/src/amcl/sensors/amcl_laser.cpp b/amcl/src/amcl/sensors/amcl_laser.cpp
index 923e4c7797..fe5ad521dd 100644
--- a/amcl/src/amcl/sensors/amcl_laser.cpp
+++ b/amcl/src/amcl/sensors/amcl_laser.cpp
@@ -33,7 +33,7 @@
 #include <assert.h>
 #include <unistd.h>
 
-#include "amcl_laser.h"
+#include "amcl/sensors/amcl_laser.h"
 
 using namespace amcl;
 
diff --git a/amcl/src/amcl/sensors/amcl_odom.cpp b/amcl/src/amcl/sensors/amcl_odom.cpp
index 2a1921b724..80b95a501e 100644
--- a/amcl/src/amcl/sensors/amcl_odom.cpp
+++ b/amcl/src/amcl/sensors/amcl_odom.cpp
@@ -32,7 +32,7 @@
 #include <sys/types.h> // required by Darwin
 #include <math.h>
 
-#include "amcl_odom.h"
+#include "amcl/sensors/amcl_odom.h"
 
 using namespace amcl;
 
diff --git a/amcl/src/amcl/sensors/amcl_sensor.cpp b/amcl/src/amcl/sensors/amcl_sensor.cpp
index 1c95993918..48e190d6fa 100644
--- a/amcl/src/amcl/sensors/amcl_sensor.cpp
+++ b/amcl/src/amcl/sensors/amcl_sensor.cpp
@@ -28,7 +28,7 @@
 ///////////////////////////////////////////////////////////////////////////
 
 
-#include "amcl_sensor.h"
+#include "amcl/sensors/amcl_sensor.h"
 
 using namespace amcl;
 
diff --git a/amcl/src/amcl_node.cpp b/amcl/src/amcl_node.cpp
index d05d92936a..8a344dd549 100644
--- a/amcl/src/amcl_node.cpp
+++ b/amcl/src/amcl_node.cpp
@@ -31,10 +31,10 @@
 // Signal handling
 #include <signal.h>
 
-#include "map/map.h"
-#include "pf/pf.h"
-#include "sensors/amcl_odom.h"
-#include "sensors/amcl_laser.h"
+#include "amcl/map/map.h"
+#include "amcl/pf/pf.h"
+#include "amcl/sensors/amcl_odom.h"
+#include "amcl/sensors/amcl_laser.h"
 
 #include "ros/assert.h"
 
diff --git a/base_local_planner/CMakeLists.txt b/base_local_planner/CMakeLists.txt
index 5291812e6a..a0c6ee9047 100644
--- a/base_local_planner/CMakeLists.txt
+++ b/base_local_planner/CMakeLists.txt
@@ -3,16 +3,22 @@ project(base_local_planner)
 
 find_package(catkin REQUIRED
         COMPONENTS
+            angles
             cmake_modules
-            roscpp
-            tf
-            message_generation
+            costmap_2d
             dynamic_reconfigure
+            geometry_msgs
+            message_generation
             nav_core
+            nav_msgs
             pcl_conversions
-            costmap_2d
+            pcl_ros
             pluginlib
-            angles
+            roscpp
+            rospy
+            std_msgs
+            tf
+            voxel_grid
         )
 
 find_package(Boost REQUIRED
@@ -55,14 +61,17 @@ catkin_package(
         base_local_planner
         trajectory_planner_ros
     CATKIN_DEPENDS
-        roscpp
-        dynamic_reconfigure
-        message_generation
-        tf
-        pluginlib
+        angles
         costmap_2d
+        dynamic_reconfigure
+        geometry_msgs
+        message_runtime
         nav_core
-        angles
+        nav_msgs
+        pluginlib
+        roscpp
+        std_msgs
+        tf
 )
 
 #uncomment for profiling
@@ -103,11 +112,12 @@ target_link_libraries(base_local_planner
 add_library(trajectory_planner_ros
 	src/trajectory_planner.cpp
 	src/trajectory_planner_ros.cpp)
-add_dependencies(trajectory_planner_ros nav_msgs_gencpp)
+add_dependencies(trajectory_planner_ros ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(trajectory_planner_ros
      base_local_planner)
 
 add_executable(point_grid src/point_grid.cpp)
+add_dependencies(point_grid ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(point_grid ${catkin_LIBRARIES})
 
 install(TARGETS
diff --git a/base_local_planner/package.xml b/base_local_planner/package.xml
index d50612b639..e4f5907321 100644
--- a/base_local_planner/package.xml
+++ b/base_local_planner/package.xml
@@ -19,7 +19,6 @@
     <build_depend>cmake_modules</build_depend>
     <build_depend>std_msgs</build_depend>
     <build_depend>nav_msgs</build_depend>
-    <build_depend>rosconsole</build_depend>
     <build_depend>roscpp</build_depend>
     <build_depend>tf</build_depend>
     <build_depend>rospy</build_depend>
@@ -27,7 +26,6 @@
     <build_depend>costmap_2d</build_depend>
     <build_depend>voxel_grid</build_depend>
     <build_depend>angles</build_depend>
-    <build_depend>visualization_msgs</build_depend>
     <build_depend>geometry_msgs</build_depend>
     <build_depend>nav_core</build_depend>
     <build_depend>pcl_conversions</build_depend>
@@ -38,7 +36,6 @@
 
     <run_depend>std_msgs</run_depend>
     <run_depend>nav_msgs</run_depend>
-    <run_depend>rosconsole</run_depend>
     <run_depend>roscpp</run_depend>
     <run_depend>tf</run_depend>
     <run_depend>rospy</run_depend>
@@ -46,13 +43,14 @@
     <run_depend>costmap_2d</run_depend>
     <run_depend>voxel_grid</run_depend>
     <run_depend>angles</run_depend>
-    <run_depend>visualization_msgs</run_depend>
     <run_depend>geometry_msgs</run_depend>
     <run_depend>nav_core</run_depend>
     <run_depend>pcl_ros</run_depend>
     <run_depend>eigen</run_depend>
     <run_depend>dynamic_reconfigure</run_depend>
-    <run_depend>message_generation</run_depend>
+    <run_depend>message_runtime</run_depend>
+    
+    <test_depend>rosunit</test_depend>
 
     <export>
         <nav_core plugin="${prefix}/blp_plugin.xml" />
diff --git a/carrot_planner/CMakeLists.txt b/carrot_planner/CMakeLists.txt
index c3fecd3256..629c3f0319 100644
--- a/carrot_planner/CMakeLists.txt
+++ b/carrot_planner/CMakeLists.txt
@@ -29,6 +29,7 @@ catkin_package(
 )
 
 add_library(carrot_planner src/carrot_planner.cpp)
+add_dependencies(carrot_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(carrot_planner
     ${catkin_LIBRARIES}
     )
diff --git a/clear_costmap_recovery/CMakeLists.txt b/clear_costmap_recovery/CMakeLists.txt
index f07b1bb399..faf37bc61b 100644
--- a/clear_costmap_recovery/CMakeLists.txt
+++ b/clear_costmap_recovery/CMakeLists.txt
@@ -33,6 +33,7 @@ catkin_package(
 )
 
 add_library(clear_costmap_recovery src/clear_costmap_recovery.cpp)
+add_dependencies(clear_costmap_recovery ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(clear_costmap_recovery ${catkin_LIBRARIES})
 
 
@@ -44,9 +45,6 @@ if(CATKIN_ENABLE_TESTING)
   # Add the test folder to the include directories
   include_directories(test)
 
-  include_directories(${GTEST_INCLUDE_DIRS})
-  link_directories(${GTEST_LIBRARY_DIRS})
-
   # Create targets for test executables
   add_rostest_gtest(clear_tester test/clear_tests.launch test/clear_tester.cpp)
   add_dependencies(tests clear_tester ${catkin_LIBRARIES})
diff --git a/clear_costmap_recovery/package.xml b/clear_costmap_recovery/package.xml
index 67100f35fa..87d2cf4d48 100644
--- a/clear_costmap_recovery/package.xml
+++ b/clear_costmap_recovery/package.xml
@@ -30,6 +30,8 @@
     <run_depend>pluginlib</run_depend>
     <run_depend>eigen</run_depend>
 
+    <test_depend>rostest</test_depend>
+
     <export>
         <nav_core plugin="${prefix}/ccr_plugin.xml" />
     </export>
diff --git a/costmap_2d/CMakeLists.txt b/costmap_2d/CMakeLists.txt
index 2a5b903428..ce4ebefe44 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}
@@ -110,27 +110,26 @@ add_library(layers
   plugins/voxel_layer.cpp
   src/observation_buffer.cpp
 )
+add_dependencies(layers ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 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_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
     )
 
 add_executable(costmap_2d_node src/costmap_2d_node.cpp)
+add_dependencies(costmap_2d_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(costmap_2d_node
     costmap_2d
     )
@@ -143,9 +142,6 @@ if(CATKIN_ENABLE_TESTING)
   # Add the test folder to the include directories
   include_directories(test)
 
-  include_directories(${GTEST_INCLUDE_DIRS})
-  link_directories(${GTEST_LIBRARY_DIRS})
-
   # Create targets for test executables
   add_executable(costmap_tester EXCLUDE_FROM_ALL test/costmap_tester.cpp)
   add_dependencies(tests costmap_tester)
diff --git a/costmap_2d/package.xml b/costmap_2d/package.xml
index e62208760a..4a4abfe47d 100644
--- a/costmap_2d/package.xml
+++ b/costmap_2d/package.xml
@@ -33,7 +33,6 @@
     <build_depend>pcl_ros</build_depend>
     <build_depend>pluginlib</build_depend>
     <build_depend>roscpp</build_depend>
-    <build_depend>rostest</build_depend>
     <build_depend>sensor_msgs</build_depend>
     <build_depend>std_msgs</build_depend>
     <build_depend>tf</build_depend>
@@ -52,7 +51,6 @@
     <run_depend>pluginlib</run_depend>
     <run_depend>rosconsole</run_depend>
     <run_depend>roscpp</run_depend>
-    <run_depend>rostest</run_depend>
     <run_depend>sensor_msgs</run_depend>
     <run_depend>std_msgs</run_depend>
     <run_depend>tf</run_depend>
@@ -61,6 +59,8 @@
 
     <test_depend>map_server</test_depend>
     <test_depend>rosbag</test_depend>
+    <test_depend>rostest</test_depend>
+    <test_depend>rosunit</test_depend>
 
     <export>
       <costmap_2d plugin="${prefix}/costmap_plugins.xml"/>
diff --git a/dwa_local_planner/CMakeLists.txt b/dwa_local_planner/CMakeLists.txt
index 6e9a11a7a8..cad0a632de 100644
--- a/dwa_local_planner/CMakeLists.txt
+++ b/dwa_local_planner/CMakeLists.txt
@@ -25,8 +25,6 @@ include_directories(
     )
 add_definitions(${EIGEN_DEFINITIONS})
 
-link_directories(${catkin_LIBRARY_DIRS})
-
 # dynamic reconfigure
 generate_dynamic_reconfigure_options(
     cfg/DWAPlanner.cfg
@@ -37,14 +35,14 @@ catkin_package(
     LIBRARIES dwa_local_planner
     CATKIN_DEPENDS
         dynamic_reconfigure
+        nav_msgs
         pluginlib
         roscpp
 )
 
 add_library(dwa_local_planner src/dwa_planner.cpp src/dwa_planner_ros.cpp)
+add_dependencies(dwa_local_planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(dwa_local_planner ${catkin_LIBRARIES})
-add_dependencies(dwa_local_planner dwa_local_planner_gencfg)
-add_dependencies(dwa_local_planner nav_msgs_gencpp)
 
 install(TARGETS dwa_local_planner
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/fake_localization/CMakeLists.txt b/fake_localization/CMakeLists.txt
index acd0f5c38a..eeafb6270f 100644
--- a/fake_localization/CMakeLists.txt
+++ b/fake_localization/CMakeLists.txt
@@ -4,12 +4,13 @@ project(fake_localization)
 find_package(catkin REQUIRED
         COMPONENTS
             angles
-            roscpp
-            rosconsole
-            nav_msgs
             geometry_msgs
-            tf
             message_filters
+            nav_msgs
+            rosconsole
+            roscpp
+            rospy
+            tf
         )
 
 
@@ -17,6 +18,8 @@ find_package(Boost REQUIRED COMPONENTS signals)
 
 catkin_package(
     CATKIN_DEPENDS
+        geometry_msgs
+        nav_msgs
         roscpp
         rospy
 )
@@ -29,8 +32,7 @@ target_link_libraries(fake_localization
     ${Boost_LIBRARIES}
     )
 
-add_dependencies(fake_localization nav_msgs_gencpp)
-add_dependencies(fake_localization geometry_msgs_gencpp)
+add_dependencies(fake_localization ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 install(
     PROGRAMS
diff --git a/global_planner/CMakeLists.txt b/global_planner/CMakeLists.txt
index 8750949532..5d0201ccac 100644
--- a/global_planner/CMakeLists.txt
+++ b/global_planner/CMakeLists.txt
@@ -48,13 +48,13 @@ add_library(${PROJECT_NAME}
   src/orientation_filter.cpp
   src/planner_core.cpp
 )
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 
-add_dependencies(${PROJECT_NAME} ${PROJECT_NAME}_gencfg)
-
 add_executable(planner
   src/plan_node.cpp
 )
+add_dependencies(planner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(planner
   ${PROJECT_NAME}
   ${catkin_LIBRARIES}
diff --git a/map_server/CMakeLists.txt b/map_server/CMakeLists.txt
index 2bb0928de7..47a3341b9e 100644
--- a/map_server/CMakeLists.txt
+++ b/map_server/CMakeLists.txt
@@ -29,9 +29,11 @@ catkin_package(
 
 include_directories( include ${catkin_INCLUDE_DIRS} ${Boost_INCLUDE_DIRS} )
 add_library(image_loader src/image_loader.cpp)
+add_dependencies(image_loader ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(image_loader SDL SDL_image ${Boost_LIBRARIES})
 
 add_executable(map_server src/main.cpp)
+add_dependencies(map_server ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(map_server
     image_loader
     yaml-cpp
@@ -39,6 +41,7 @@ target_link_libraries(map_server
 )
 
 add_executable(map_server-map_saver src/map_saver.cpp)
+add_dependencies(map_server-map_saver ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 set_target_properties(map_server-map_saver PROPERTIES OUTPUT_NAME map_saver)
 target_link_libraries(map_server-map_saver
     ${catkin_LIBRARIES}
@@ -61,14 +64,14 @@ if(CATKIN_ENABLE_TESTING)
   target_link_libraries(${PROJECT_NAME}_utest image_loader SDL SDL_image)
 
   add_executable(rtest test/rtest.cpp test/test_constants.cpp)
+  add_dependencies(rtest ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
   target_link_libraries( rtest
       gtest
       ${catkin_LIBRARIES}
   )
-  add_dependencies(rtest nav_msgs_gencpp)
 
   # This has to be done after we've already built targets, or catkin variables get borked
-  find_package(rostest)
+  find_package(rostest REQUIRED)
   add_rostest(test/rtest.xml)
 endif()
 
diff --git a/map_server/package.xml b/map_server/package.xml
index 4fc47ddcf0..ba439da50c 100644
--- a/map_server/package.xml
+++ b/map_server/package.xml
@@ -17,17 +17,17 @@
 
     <build_depend>nav_msgs</build_depend>
     <build_depend>roscpp</build_depend>
-    <build_depend>rostest</build_depend>
     <build_depend>sdl-image</build_depend>
     <build_depend>tf</build_depend>
     <build_depend>yaml-cpp</build_depend>
 
     <run_depend>nav_msgs</run_depend>
     <run_depend>roscpp</run_depend>
-    <run_depend>rostest</run_depend>
     <run_depend>sdl-image</run_depend>
     <run_depend>tf</run_depend>
     <run_depend>yaml-cpp</run_depend>
 
     <test_depend>rospy</test_depend>
+    <test_depend>rostest</test_depend>
+    <test_depend>rosunit</test_depend>
 </package>
diff --git a/move_base/CMakeLists.txt b/move_base/CMakeLists.txt
index c8e87b9acb..68839a66de 100644
--- a/move_base/CMakeLists.txt
+++ b/move_base/CMakeLists.txt
@@ -3,14 +3,23 @@ project(move_base)
 
 find_package(catkin REQUIRED
     COMPONENTS
-        cmake_modules
-        roscpp
-        pluginlib
         actionlib
+        base_local_planner
+        clear_costmap_recovery
+        cmake_modules
+        costmap_2d
         dynamic_reconfigure
+        geometry_msgs
         message_generation
         move_base_msgs
         nav_core
+        nav_msgs
+        navfn
+        pluginlib
+        roscpp
+        rospy
+        rotate_recovery
+        std_srvs
         tf
 )
 find_package(Eigen REQUIRED)
@@ -23,8 +32,11 @@ generate_dynamic_reconfigure_options(
 
 catkin_package(
     CATKIN_DEPENDS
-        roscpp
         dynamic_reconfigure
+        geometry_msgs
+        move_base_msgs
+        nav_msgs
+        roscpp
 )
 
 include_directories(
@@ -41,12 +53,12 @@ target_link_libraries(move_base
     ${Boost_LIBRARIES}
     ${catkin_LIBRARIES}
     )
-add_dependencies(move_base move_base_gencfg)
-add_dependencies(move_base geometry_msgs_gencpp)
+add_dependencies(move_base ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 add_executable(move_base_node
   src/move_base_node.cpp
 )
+add_dependencies(move_base_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(move_base_node move_base)
 set_target_properties(move_base_node PROPERTIES OUTPUT_NAME move_base)
 
diff --git a/move_base/package.xml b/move_base/package.xml
index 3f400e8465..52bfdb3777 100644
--- a/move_base/package.xml
+++ b/move_base/package.xml
@@ -27,10 +27,8 @@
     <build_depend>pluginlib</build_depend>
     <build_depend>roscpp</build_depend>
     <build_depend>rospy</build_depend>
-    <build_depend>std_msgs</build_depend>
     <build_depend>std_srvs</build_depend>
     <build_depend>tf</build_depend>
-    <build_depend>visualization_msgs</build_depend>
 
     <!--These deps aren't strictly needed, but given the default parameters require them to work, we'll enforce that they build -->
     <build_depend>base_local_planner</build_depend>
@@ -42,8 +40,6 @@
     <run_depend>navfn</run_depend>
     <run_depend>rotate_recovery</run_depend>
 
-<!--  This is commented out until rotate_recovery is ported to layered costmaps. <build_depend>rotate_recovery</build_depend> -->
-
     <run_depend>actionlib</run_depend>
     <run_depend>costmap_2d</run_depend>
     <run_depend>dynamic_reconfigure</run_depend>
@@ -55,9 +51,7 @@
     <run_depend>pluginlib</run_depend>
     <run_depend>roscpp</run_depend>
     <run_depend>rospy</run_depend>
-    <run_depend>std_msgs</run_depend>
     <run_depend>std_srvs</run_depend>
     <run_depend>tf</run_depend>
-    <run_depend>visualization_msgs</run_depend>
 
 </package>
diff --git a/move_base_msgs/CMakeLists.txt b/move_base_msgs/CMakeLists.txt
index 62ab95857e..81d57fa988 100644
--- a/move_base_msgs/CMakeLists.txt
+++ b/move_base_msgs/CMakeLists.txt
@@ -23,6 +23,8 @@ generate_messages(
 )
 
 catkin_package(
+  CATKIN_DEPENDS
+    actionlib_msgs
+    geometry_msgs
+    message_runtime
 )
-
-
diff --git a/move_slow_and_clear/CMakeLists.txt b/move_slow_and_clear/CMakeLists.txt
index 686596e2eb..c4558d7ce6 100644
--- a/move_slow_and_clear/CMakeLists.txt
+++ b/move_slow_and_clear/CMakeLists.txt
@@ -4,12 +4,11 @@ project(move_slow_and_clear)
 find_package(catkin REQUIRED
     COMPONENTS
         cmake_modules
-        roscpp
-        nav_core
         costmap_2d
-        actionlib_msgs
-        std_msgs
+        geometry_msgs
+        nav_core
         pluginlib
+        roscpp
         )
 
 
@@ -28,13 +27,14 @@ catkin_package(
     INCLUDE_DIRS include
     LIBRARIES move_slow_and_clear
     CATKIN_DEPENDS
-        roscpp
-        pluginlib
+        geometry_msgs
         nav_core
+        pluginlib
+        roscpp
 )
 
 add_library(${PROJECT_NAME} src/move_slow_and_clear.cpp)
-add_dependencies(${PROJECT_NAME} geometry_msgs_gencpp)
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(${PROJECT_NAME}
     ${Boost_LIBRARIES}
     ${catkin_LIBRARIES}
diff --git a/navfn/CMakeLists.txt b/navfn/CMakeLists.txt
index 3e3995f62d..7c7d1dc209 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
@@ -37,9 +39,7 @@ add_service_files(
 
 generate_messages(
     DEPENDENCIES
-        std_msgs
         geometry_msgs
-        nav_msgs
 )
 
 catkin_package(
@@ -48,9 +48,13 @@ 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 b19a9f578a..d605e63f4b 100644
--- a/navfn/package.xml
+++ b/navfn/package.xml
@@ -49,6 +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..41bec2c24d 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
@@ -98,9 +104,10 @@ 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)
+find_package(rostest REQUIRED)
 add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_robot_pose_ekf.launch)
 add_rostest(${CMAKE_CURRENT_SOURCE_DIR}/test/test_robot_pose_ekf_zero_covariance.launch)
 
diff --git a/robot_pose_ekf/package.xml b/robot_pose_ekf/package.xml
index 8d8e14e23e..e62f003770 100644
--- a/robot_pose_ekf/package.xml
+++ b/robot_pose_ekf/package.xml
@@ -15,8 +15,8 @@
 
     <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>
     <build_depend>std_msgs</build_depend>
     <build_depend>geometry_msgs</build_depend>
@@ -24,8 +24,8 @@
     <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>
     <run_depend>std_msgs</run_depend>
     <run_depend>geometry_msgs</run_depend>
@@ -34,4 +34,5 @@
     <run_depend>tf</run_depend>
 
     <test_depend>rosbag</test_depend>
+    <test_depend>rostest</test_depend>
 </package>
diff --git a/rotate_recovery/CMakeLists.txt b/rotate_recovery/CMakeLists.txt
index 0755157071..753c6e8048 100644
--- a/rotate_recovery/CMakeLists.txt
+++ b/rotate_recovery/CMakeLists.txt
@@ -29,6 +29,7 @@ catkin_package(
 )
 
 add_library(rotate_recovery src/rotate_recovery.cpp)
+add_dependencies(rotate_recovery ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(rotate_recovery ${catkin_LIBRARIES})
 
 install(TARGETS rotate_recovery
@@ -36,6 +37,11 @@ install(TARGETS rotate_recovery
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        )
 
+install(DIRECTORY include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+  FILES_MATCHING PATTERN "*.h"
+)
+
 install(FILES rotate_plugin.xml
     DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
diff --git a/voxel_grid/CMakeLists.txt b/voxel_grid/CMakeLists.txt
index fa149d36c2..d65925a58f 100644
--- a/voxel_grid/CMakeLists.txt
+++ b/voxel_grid/CMakeLists.txt
@@ -18,6 +18,7 @@ catkin_package(
 include_directories(include ${catkin_INCLUDE_DIRS})
 
 add_library(voxel_grid src/voxel_grid.cpp)
+add_dependencies(voxel_grid ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 target_link_libraries(voxel_grid ${catkin_LIBRARIES})
 
 install(TARGETS voxel_grid
diff --git a/voxel_grid/package.xml b/voxel_grid/package.xml
index cefbe8ca54..fb268bdcab 100644
--- a/voxel_grid/package.xml
+++ b/voxel_grid/package.xml
@@ -18,4 +18,6 @@
     <build_depend>roscpp</build_depend>
 
     <run_depend>roscpp</run_depend>
+
+    <test_depend>rosunit</test_depend>
 </package>