diff --git a/CMakeLists.txt b/CMakeLists.txt
index f680863..2bef529 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -8,6 +8,7 @@ add_compile_options(-std=c++11)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
+  roscpp
   geometry_msgs
   joy
   nxt_ros
@@ -140,6 +141,11 @@ add_executable(
   src/nxt_key.cpp
 )
 
+#add_executable(
+#        ${PROJECT_NAME}_joy_node
+#        src/nxt_joy.cpp
+#)
+
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
 ## target back to the shorter version for ease of user use
@@ -149,12 +155,16 @@ add_executable(
 ## Add cmake target dependencies of the executable
 ## same as for the library above
 add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
+#add_dependencies(${PROJECT_NAME}_joy_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
 ## Specify libraries to link a library or executable target against
-target_link_libraries(${PROJECT_NAME}_node
+target_link_libraries(nxt_teleop_node
   ${catkin_LIBRARIES}
 )
 
+#target_link_libraries(${PROJECT_NAME}_joy_node
+#        ${catkin_LIBRARIES}
+#        )
+
 #############
 ## Install ##
 #############
diff --git a/README.md b/README.md
index e11ef4f..b4df61b 100644
--- a/README.md
+++ b/README.md
@@ -10,6 +10,8 @@ NXT ROS - Teleop
 This repository contains a keyboard interface to use with NXT ROS.
 
 ## Installation
+To use *nxt_teleop*, *robot_pose_ekf* needs to be installed.
+
 
 The repository is expected to be placed inside the source folder of a working catkin environnement.
 
@@ -45,4 +47,4 @@ roslaunch nxt_teleop teleop_keyboard.launch
 
 ## Credits
 
-Original maintainer of the project is Wim Meeussen.
\ No newline at end of file
+Original maintainer of the project is Wim Meeussen.
diff --git a/package.xml b/package.xml
index 55c3382..bab22a9 100644
--- a/package.xml
+++ b/package.xml
@@ -13,11 +13,13 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>roscpp</build_depend>
   <build_depend>geometry_msgs</build_depend>
   <build_depend>joy</build_depend>
   <build_depend>nxt_ros</build_depend>
   <build_depend>sensor_msgs</build_depend>
 
+  <run_depend>roscpp</run_depend>
   <run_depend>geometry_msgs</run_depend>
   <run_depend>joy</run_depend>
   <run_depend>nxt_ros</run_depend>