diff --git a/interface_nbvp_rotors/CMakeLists.txt b/interface_nbvp_rotors/CMakeLists.txt
index 5ffe7171..5239bdc6 100644
--- a/interface_nbvp_rotors/CMakeLists.txt
+++ b/interface_nbvp_rotors/CMakeLists.txt
@@ -2,6 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 project(interface_nbvp_rotors)
 
 find_package(catkin REQUIRED COMPONENTS
+  nbvplanner
   trajectory_msgs
   mav_msgs
   tf
@@ -10,8 +11,6 @@ find_package(catkin REQUIRED COMPONENTS
 include_directories(${Eigen_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS})
 
 catkin_package(
-  INCLUDE_DIRS ${Eigen_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
-  LIBRARIES ${catkin_LIBRARIES}
   CATKIN_DEPENDS trajectory_msgs mav_msgs tf
 )
 
@@ -19,4 +18,4 @@ add_executable(exploration src/exploration.cpp)
 target_link_libraries(exploration
   ${catkin_LIBRARIES}
 )
-add_dependencies(exploration ${catkin_EXPORTED_TARGETS})
+add_dependencies(exploration ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
diff --git a/kdtree/CMakeLists.txt b/kdtree/CMakeLists.txt
index ea1669b5..1704dbaf 100644
--- a/kdtree/CMakeLists.txt
+++ b/kdtree/CMakeLists.txt
@@ -14,7 +14,7 @@ cs_add_library(${PROJECT_NAME}
 include_directories(include ${catkin_INCLUDE_DIRS})
 
 catkin_package(
-  INCLUDE_DIRS include ${catkin_INCLUDE_DIRS}
+  INCLUDE_DIRS include
 )
 
 ##########
diff --git a/multiagent_collision_check/CMakeLists.txt b/multiagent_collision_check/CMakeLists.txt
index 570f3646..95b65d1c 100644
--- a/multiagent_collision_check/CMakeLists.txt
+++ b/multiagent_collision_check/CMakeLists.txt
@@ -21,7 +21,7 @@ generate_messages(
 
 catkin_package(
   INCLUDE_DIRS include
-  LIBRARIES multiagent_collision_check_lib ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES}
+  LIBRARIES multiagent_collision_check_lib
 )
 add_library(multiagent_collision_check_lib src/multiagent_collision_checker.cpp)
 
diff --git a/nbvplanner/.gitignore b/nbvplanner/.gitignore
new file mode 100644
index 00000000..8fce6030
--- /dev/null
+++ b/nbvplanner/.gitignore
@@ -0,0 +1 @@
+data/
diff --git a/nbvplanner/CMakeLists.txt b/nbvplanner/CMakeLists.txt
index 07f7f56b..5b382a19 100644
--- a/nbvplanner/CMakeLists.txt
+++ b/nbvplanner/CMakeLists.txt
@@ -26,12 +26,11 @@ generate_messages(
   DEPENDENCIES
   geometry_msgs
   visualization_msgs
-  std_msgs
 )
 
 catkin_package(
-  INCLUDE_DIRS include ${Eigen_INCLUDE_DIRS} ${OCTOMAP_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
-  LIBRARIES nbvplanner ${catkin_LIBRARIES} ${OCTOMAP_LIBRARIES}
+  INCLUDE_DIRS include
+  LIBRARIES nbvPlannerLib
   CATKIN_DEPENDS message_runtime roscpp geometry_msgs visualization_msgs octomap_world tf kdtree
 )
 
@@ -43,8 +42,9 @@ include_directories(
 )
 
 add_library(nbvPlannerLib src/mesh_structure.cpp src/nbvp.cpp src/rrt.cpp src/tree.cpp)
+add_dependencies(nbvPlannerLib ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 add_executable(nbvPlanner src/nbv_planner_node.cpp src/mesh_structure.cpp src/nbvp.cpp src/rrt.cpp src/tree.cpp)
-add_dependencies(nbvPlannerLib ${${PROJECT_NAME}_EXPORTED_TARGETS})
+add_dependencies(nbvPlanner ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 
 target_link_libraries(nbvPlannerLib
   ${catkin_LIBRARIES}