diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt
index 70a5583..6bd0db1 100644
--- a/svo/CMakeLists.txt
+++ b/svo/CMakeLists.txt
@@ -49,7 +49,7 @@ ELSE()
 ENDIF()
 
 # Add catkin and required ROS packages
-FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib vikit_common vikit_ros)
+FIND_PACKAGE(catkin REQUIRED COMPONENTS roscpp roslib cmake_modules vikit_common vikit_ros)
 
 # Add plain cmake packages 
 FIND_PACKAGE(G2O REQUIRED)
diff --git a/svo/package.xml b/svo/package.xml
index d51d015..4d71cb3 100644
--- a/svo/package.xml
+++ b/svo/package.xml
@@ -13,6 +13,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <!-- Dependencies needed to compile this package. -->
+  <build_depend>cmake_modules</build_depend> <!-- for FindEigen.cmake -->
   <build_depend>roscpp</build_depend>
   <build_depend>roslib</build_depend>
   <build_depend>vikit_common</build_depend>
diff --git a/svo_ros/CMakeLists.txt b/svo_ros/CMakeLists.txt
index 192de3c..a490881 100644
--- a/svo_ros/CMakeLists.txt
+++ b/svo_ros/CMakeLists.txt
@@ -14,7 +14,19 @@ ENDIF()
 
 # Add catkin and required ROS packages
 FIND_PACKAGE(catkin REQUIRED COMPONENTS 
-  roscpp nav_msgs std_msgs visualization_msgs sensor_msgs image_transport cv_bridge tf svo svo_msgs vikit_common vikit_ros
+  roscpp
+  cmake_modules
+  nav_msgs
+  std_msgs
+  visualization_msgs
+  sensor_msgs
+  image_transport
+  cv_bridge
+  tf
+  svo
+  svo_msgs
+  vikit_common
+  vikit_ros
 )
 
 # Add plain cmake packages 
diff --git a/svo_ros/package.xml b/svo_ros/package.xml
index efc72e0..aaa8fd3 100644
--- a/svo_ros/package.xml
+++ b/svo_ros/package.xml
@@ -14,6 +14,7 @@
 
   <!-- Dependencies needed to compile this package. -->
   <build_depend>roscpp</build_depend>
+  <build_depend>cmake_modules</build_depend> <!-- for FindEigen.cmake module -->
   <build_depend>nav_msgs</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>visualization_msgs</build_depend>