diff --git a/svo/CMakeLists.txt b/svo/CMakeLists.txt
index ae995f4..066b751 100644
--- a/svo/CMakeLists.txt
+++ b/svo/CMakeLists.txt
@@ -32,7 +32,7 @@ ENDIF()
 IF(HAVE_G2O)
   ADD_DEFINITIONS(-DUSE_BUNDLE_ADJUSTMENT)
 ENDIF()
-ADD_DEFINITIONS(-DUSE_ROS)
+ADD_DEFINITIONS(-DSVO_USE_ROS)
 
 # Set build flags
 SET(CMAKE_CXX_FLAGS "-Wall -Werror -D_LINUX -D_REENTRANT -march=native -Wno-unused-variable -Wno-unused-but-set-variable -Wno-unknown-pragmas")
diff --git a/svo/include/svo/global.h b/svo/include/svo/global.h
index 01d8d52..c118377 100644
--- a/svo/include/svo/global.h
+++ b/svo/include/svo/global.h
@@ -30,7 +30,7 @@
 #include <vikit/performance_monitor.h>
 #include <boost/shared_ptr.hpp>
 
-#ifdef USE_ROS
+#ifdef SVO_USE_ROS
   #include <ros/console.h>
   #define SVO_DEBUG_STREAM(x) ROS_DEBUG_STREAM(x)
   #define SVO_INFO_STREAM(x) ROS_INFO_STREAM(x)
diff --git a/svo/src/config.cpp b/svo/src/config.cpp
index c8593c4..f6820f4 100644
--- a/svo/src/config.cpp
+++ b/svo/src/config.cpp
@@ -14,7 +14,7 @@
 // You should have received a copy of the GNU General Public License
 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
-#ifdef USE_ROS
+#ifdef SVO_USE_ROS
 #include <vikit/params_helper.h>
 #endif
 #include <svo/config.h>
@@ -22,7 +22,7 @@
 namespace svo {
 
 Config::Config() :
-#ifdef USE_ROS
+#ifdef SVO_USE_ROS
     trace_name(vk::getParam<string>("svo/trace_name", "svo")),
     trace_dir(vk::getParam<string>("svo/trace_dir", "/tmp")),
     n_pyr_levels(vk::getParam<int>("svo/n_pyr_levels", 3)),