diff --git a/CMakeLists.txt b/CMakeLists.txt
index ac5f2b6..a02d388 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -11,22 +11,14 @@ find_package(catkin REQUIRED COMPONENTS
   nav_msgs
   sensor_msgs
   std_msgs
-  tf  
+  tf
+  cmake_modules
 )
 
-set(MRPT_DONT_USE_DBG_LIBS 1)
-
 ## System dependencies are found with CMake's conventions
 find_package(Boost REQUIRED COMPONENTS system)
-find_package(cmake_modules REQUIRED)
+
 find_package(Eigen3 REQUIRED)
-find_package(MRPT REQUIRED base obs) # maps slam
-#include_directories(${MRPT_INCLUDE_DIRS})
-MESSAGE( STATUS "MRPT_INCLUDE_DIRS: " ${MRPT_INCLUDE_DIRS})
-#link_directories(${MRPT_LIBRARY_DIRS})
-MESSAGE( STATUS "MRPT_LIBRARY_DIRS: " ${MRPT_LIBRARIES})
-
-
 
 ###################################
 ## catkin specific configuration ##
@@ -38,10 +30,10 @@ MESSAGE( STATUS "MRPT_LIBRARY_DIRS: " ${MRPT_LIBRARIES})
 ## CATKIN_DEPENDS: catkin_packages dependent projects also need
 ## DEPENDS: system dependencies of this project that dependent projects also need
 catkin_package(
- INCLUDE_DIRS include
+ INCLUDE_DIRS include ${EIGEN3_INCLUDE_DIRS}
  LIBRARIES ${PROJECT_NAME}
  CATKIN_DEPENDS nav_msgs roscpp sensor_msgs std_msgs tf
- DEPENDS MRPT
+ DEPENDS #Eigen3
 )
 
 ## Specify additional locations of header files
@@ -52,15 +44,12 @@ include_directories(
   SYSTEM
   ${catkin_INCLUDE_DIRS}
   ${Boost_INCLUDE_DIRS}
-  ${EIGEN_INCLUDE_DIRS}
-  ${MRPT_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
 )
 
 ## Declare a cpp library
-add_library(${PROJECT_NAME}
-    src/CLaserOdometry2D.cpp
-)
-target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} ${MRPT_LIBS})
+add_library(${PROJECT_NAME} src/CLaserOdometry2D.cpp)
+target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES})
 
 ## Declare a cpp executable
 add_executable(rf2o_laser_odometry_node src/CLaserOdometry2DNode.cpp)
diff --git a/package.xml b/package.xml
index dc80124..d39fb72 100644
--- a/package.xml
+++ b/package.xml
@@ -24,15 +24,14 @@
   <build_depend>tf</build_depend>
   <build_depend>cmake_modules</build_depend>   <!-- A common repository for CMake Modules which are not distributed with CMake but are commonly used by ROS packages. -->
                                                <!-- https://github.com/ros/cmake_modules/blob/0.3-devel/README.md -->
-  <build_depend>mrpt</build_depend>            <!-- Depend on mrpt system pkgs: http://www.mrpt.org/ -->
-
+  <build_depend>eigen</build_depend>
 
   <run_depend>nav_msgs</run_depend>
   <run_depend>roscpp</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>tf</run_depend>
-  <run_depend>cmake_modules</run_depend>       <!-- For aditional dependencies such as Eigen -->
-  <run_depend>mrpt</run_depend>                <!-- Depend on mrpt system pkgs -->
+  <run_depend>cmake_modules</run_depend>   <!-- For aditional dependencies such as Eigen -->
+  <run_depend>eigen</run_depend>
 
 </package>