diff --git a/moveit_ros/visualization/CMakeLists.txt b/moveit_ros/visualization/CMakeLists.txt
index 4087b99e84..d94ae53cef 100644
--- a/moveit_ros/visualization/CMakeLists.txt
+++ b/moveit_ros/visualization/CMakeLists.txt
@@ -19,20 +19,21 @@ pkg_check_modules(OGRE OGRE)
 link_directories( ${OGRE_LIBRARY_DIRS} )
 
 find_package(catkin REQUIRED COMPONENTS
-  moveit_ros_planning_interface
-  moveit_ros_robot_interaction
-  moveit_ros_warehouse
-  moveit_ros_perception
+  class_loader
   eigen_conversions
   geometric_shapes
   interactive_markers
-  class_loader
+  moveit_ros_perception
+  moveit_ros_planning_interface
+  moveit_ros_robot_interaction
+  moveit_ros_warehouse
+  object_recognition_msgs
+  pluginlib
+  rosconsole
+  roscpp
+  rospy
   rviz
   tf
-  roscpp
-  rosconsole
-  object_recognition_msgs
-  rostest
 )
 
 find_package(Eigen3 REQUIRED)
@@ -63,20 +64,21 @@ add_definitions(-DQT_NO_KEYWORDS)
 
 catkin_package(
   LIBRARIES
-    moveit_rviz_plugin_render_tools
-    moveit_robot_state_rviz_plugin_core
     moveit_motion_planning_rviz_plugin_core
-    moveit_trajectory_rviz_plugin_core
     moveit_planning_scene_rviz_plugin_core
+    moveit_robot_state_rviz_plugin_core
+    moveit_rviz_plugin_render_tools
+    moveit_trajectory_rviz_plugin_core
   INCLUDE_DIRS
-    rviz_plugin_render_tools/include
-    robot_state_rviz_plugin/include
-    planning_scene_rviz_plugin/include
     motion_planning_rviz_plugin/include
+    planning_scene_rviz_plugin/include
+    robot_state_rviz_plugin/include
+    rviz_plugin_render_tools/include
     trajectory_rviz_plugin/include
   CATKIN_DEPENDS
     moveit_ros_planning_interface
     moveit_ros_robot_interaction
+    object_recognition_msgs
   DEPENDS
     EIGEN3
 )
@@ -97,9 +99,6 @@ include_directories(SYSTEM
                     ${QT_INCLUDE_DIR}
                     ${OGRE_INCLUDE_DIRS})
 
-link_directories(${Boost_LIBRARY_DIRS})
-link_directories(${catkin_LIBRARY_DIRS})
-
 add_subdirectory(rviz_plugin_render_tools)
 add_subdirectory(robot_state_rviz_plugin)
 add_subdirectory(planning_scene_rviz_plugin)
@@ -116,6 +115,6 @@ install(FILES
 install(DIRECTORY icons DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
 
 if (CATKIN_ENABLE_TESTING)
-  find_package(rostest)
+  find_package(rostest REQUIRED)
   add_rostest(test/moveit_joy.test)
 endif()
diff --git a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
index 46b9fd6510..a313a22d85 100644
--- a/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/motion_planning_rviz_plugin/CMakeLists.txt
@@ -32,7 +32,7 @@ add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/moveit_ros/visualization/package.xml b/moveit_ros/visualization/package.xml
index 252f267b71..0cfecbcf02 100644
--- a/moveit_ros/visualization/package.xml
+++ b/moveit_ros/visualization/package.xml
@@ -20,30 +20,34 @@
   <buildtool_depend>catkin</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>
 
-  <build_depend>roscpp</build_depend>
-  <build_depend>rviz</build_depend>
+  <build_depend>class_loader</build_depend>
+  <build_depend>eigen</build_depend>
+  <build_depend>eigen_conversions</build_depend>
+  <build_depend>geometric_shapes</build_depend>
+  <build_depend>interactive_markers</build_depend>
+  <build_depend>moveit_ros_robot_interaction</build_depend>
+  <build_depend>moveit_ros_perception</build_depend>
   <build_depend>moveit_ros_planning_interface</build_depend>
   <build_depend>moveit_ros_warehouse</build_depend>
-  <build_depend>moveit_ros_robot_interaction</build_depend>
-  <build_depend version_gte="1.11.2">pluginlib</build_depend>
-  <build_depend>interactive_markers</build_depend>
-  <build_depend>geometric_shapes</build_depend>
   <build_depend>object_recognition_msgs</build_depend>
-  <build_depend>moveit_ros_perception</build_depend>
-  <build_depend>eigen</build_depend>
+  <build_depend version_gte="1.11.2">pluginlib</build_depend>
+  <build_depend>rosconsole</build_depend>
+  <build_depend>roscpp</build_depend>
   <build_depend>rospy</build_depend>
+  <build_depend>rviz</build_depend>
+  <build_depend>tf</build_depend>
 
-  <run_depend>roscpp</run_depend>
-  <run_depend>rviz</run_depend>
+  <run_depend>geometric_shapes</run_depend>
+  <run_depend>interactive_markers</run_depend>
+  <run_depend>moveit_ros_robot_interaction</run_depend>
+  <run_depend>moveit_ros_perception</run_depend>
   <run_depend>moveit_ros_planning_interface</run_depend>
   <run_depend>moveit_ros_warehouse</run_depend>
-  <run_depend>moveit_ros_robot_interaction</run_depend>
-  <run_depend version_gte="1.11.2">pluginlib</run_depend>
-  <run_depend>interactive_markers</run_depend>
-  <run_depend>geometric_shapes</run_depend>
   <run_depend>object_recognition_msgs</run_depend>
-  <run_depend>moveit_ros_perception</run_depend>
+  <run_depend version_gte="1.11.2">pluginlib</run_depend>
+  <run_depend>roscpp</run_depend>
   <run_depend>rospy</run_depend>
+  <run_depend>rviz</run_depend>
 
   <test_depend>rostest</test_depend>
 
diff --git a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
index 9965c29b8f..510d963756 100644
--- a/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/planning_scene_rviz_plugin/CMakeLists.txt
@@ -10,7 +10,7 @@ add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME}_core ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
index a8ced65892..2a6c207c33 100644
--- a/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/robot_state_rviz_plugin/CMakeLists.txt
@@ -11,7 +11,7 @@ add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME}_core ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
index a18d930104..20c33a5428 100644
--- a/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
+++ b/moveit_ros/visualization/rviz_plugin_render_tools/CMakeLists.txt
@@ -31,7 +31,7 @@ target_link_libraries(${MOVEIT_LIB_NAME}
   ${Boost_LIBRARIES}
 )
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME}
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
diff --git a/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt b/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
index 725e925d74..194a9da0be 100644
--- a/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
+++ b/moveit_ros/visualization/trajectory_rviz_plugin/CMakeLists.txt
@@ -24,7 +24,7 @@ add_library(${MOVEIT_LIB_NAME} src/plugin_init.cpp)
 set_target_properties(${MOVEIT_LIB_NAME} PROPERTIES VERSION ${${PROJECT_NAME}_VERSION})
 target_link_libraries(${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core ${catkin_LIBRARIES} ${Boost_LIBRARIES})
 
-install(DIRECTORY include/ DESTINATION include)
+install(DIRECTORY include/ DESTINATION ${CATKIN_GLOBAL_INCLUDE_DESTINATION})
 
 install(TARGETS ${MOVEIT_LIB_NAME} ${MOVEIT_LIB_NAME}_core
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}