diff --git a/CMakeLists.txt b/CMakeLists.txt
index 683d7b3..b6b529a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,37 +1,48 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1)
 project(dr_kdl)
 
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED on)
+set(CMAKE_CXX_EXTENSIONS off)
+add_compile_options(-Wall -Wextra -Wpedantic)
+
 find_package(catkin REQUIRED COMPONENTS
 	sensor_msgs
 	kdl_parser
-	dr_base
-	dr_eigen
 )
 
 find_package(orocos_kdl REQUIRED)
+find_package(Eigen3 REQUIRED)
 
 catkin_package(
-	INCLUDE_DIRS include ${orocos_kdl_INCLUDE_DIRS}
-	LIBRARIES ${PROJECT_NAME} ${orocos_kdl_LIBRARIES}
-	CATKIN_DEPENDS dr_eigen
+	INCLUDE_DIRS include
+	LIBRARIES ${PROJECT_NAME}
+	CATKIN_DEPENDS sensor_msgs
+	DEPENDS EIGEN3 orocos_kdl
 )
 
-dr_include_directories(
-	include/${PROJECT_NAME}
+include_directories(include/${PROJECT_NAME})
+include_directories(SYSTEM
 	${catkin_INCLUDE_DIRS}
-	${Eigen_INCLUDE_DIRS}
+	${EIGEN3_INCLUDE_DIRS}
 )
 
 add_library(${PROJECT_NAME}
 	src/dr_kdl.cpp
 )
 
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${Eigen_LIBRARIES} ${orocos_kdl_LIBRARIES})
+target_link_libraries(${PROJECT_NAME}
+	${catkin_LIBRARIES}
+	${EIGEN3_LIBRARIES}
+	${orocos_kdl_LIBRARIES}
+)
 
-dr_add_gtest(kdl   test/kdl.cpp)
-dr_add_gtest(eigen test/eigen.cpp)
-target_link_libraries(${PROJECT_NAME}_test_kdl   ${PROJECT_NAME} ${catkin_LIBRARIES})
-target_link_libraries(${PROJECT_NAME}_test_eigen ${PROJECT_NAME} ${catkin_LIBRARIES})
+if (CATKIN_ENABLE_TESTING)
+	catkin_add_gtest(${PROJECT_NAME}_test_kdl   test/kdl.cpp)
+	catkin_add_gtest(${PROJECT_NAME}_test_eigen test/eigen.cpp)
+	target_link_libraries(${PROJECT_NAME}_test_kdl   ${PROJECT_NAME} ${catkin_LIBRARIES})
+	target_link_libraries(${PROJECT_NAME}_test_eigen ${PROJECT_NAME} ${catkin_LIBRARIES})
+endif()
 
 install(
 	TARGETS "${PROJECT_NAME}"
diff --git a/package.xml b/package.xml
index 256ed40..2ff7127 100644
--- a/package.xml
+++ b/package.xml
@@ -9,7 +9,8 @@
 	<author email="maarten@de-vri.es">Maarten de Vries</author>
 
 	<buildtool_depend>catkin</buildtool_depend>
-	<depend>dr_base</depend>
-	<depend>dr_eigen</depend>
+	<depend>eigen</depend>
 	<depend>kdl_parser</depend>
+	<depend>orocos_kdl</depend>
+	<depend>sensor_msgs</depend>
 </package>