diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6d6362a..85d84e0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -15,8 +15,7 @@ find_package(catkin REQUIRED COMPONENTS
 
 # TO FIX, VISP_DEFINITIONS should come from visp_bridge dependency
 find_package(VISP REQUIRED)
-add_definitions(${VISP_DEFINITIONS})
-
+link_directories(${VISP_LIBRARY_DIRS})
 
 find_package(Eigen REQUIRED)
 
@@ -93,7 +92,7 @@ catkin_package(
 #  INCLUDE_DIRS include
 #  LIBRARIES visp_cam_vs
 #  CATKIN_DEPENDS roscpp std_msgs visp_bridge
-  DEPENDS eigen
+  DEPENDS Eigen VISP
 )
 
 ###########
@@ -106,7 +105,7 @@ catkin_package(
 include_directories(
   ${catkin_INCLUDE_DIRS} 
   ${EIGEN_INCLUDE_DIRS}
-
+  ${VISP_INCLUDE_DIRS}
 )
 
 ## Declare a cpp library
diff --git a/package.xml b/package.xml
index 5d1e16e..f1ea3cc 100644
--- a/package.xml
+++ b/package.xml
@@ -45,6 +45,7 @@
   <build_depend>std_msgs</build_depend>
   <build_depend>visp_bridge</build_depend>
   <build_depend>image_transport</build_depend>
+  <!--build_depend>eigen</build_depend-->
 
 
 
@@ -52,7 +53,7 @@
   <run_depend>std_msgs</run_depend>
   <run_depend>visp_bridge</run_depend>
   <run_depend>image_transport</run_depend>
-
+  <!--run_depend>eigen</run_depend-->
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>