diff --git a/calibrate_sweeps/CMakeLists.txt b/calibrate_sweeps/CMakeLists.txt
index e2614963..cab9d7a3 100644
--- a/calibrate_sweeps/CMakeLists.txt
+++ b/calibrate_sweeps/CMakeLists.txt
@@ -4,7 +4,7 @@ project(calibrate_sweeps)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS roscpp message_generation qt_build semantic_map metaroom_xml_parser strands_sweep_registration)
+find_package(catkin REQUIRED COMPONENTS roscpp message_generation qt_build semantic_map metaroom_xml_parser strands_sweep_registration actionlib actionlib_msgs)
 
 set(CMAKE_CXX_FLAGS "-O4 -fPIC -std=c++0x -fpermissive ${CMAKE_CXX_FLAGS}")
 set(CMAKE_PREFIX_PATH /usr/share/pcl-1.7/ ${CMAKE_PREFIX_PATH})
@@ -33,8 +33,8 @@ generate_messages(
 catkin_package(
    INCLUDE_DIRS
    LIBRARIES 
-   CATKIN_DEPENDS semantic_map metaroom_xml_parser strands_sweep_registration
-   DEPENDS
+   CATKIN_DEPENDS semantic_map metaroom_xml_parser strands_sweep_registration actionlib actionlib_msgs
+   DEPENDS libceres-dev suitesparse qt_ros
 )
 
 include_directories(
@@ -47,6 +47,7 @@ add_dependencies(calibrate_sweep_as calibrate_sweeps_generate_messages_cpp)
  target_link_libraries(calibrate_sweep_as
    ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
+   ${QT_LIBRARIES}
   )
 
 ############################# INSTALL TARGETS
diff --git a/calibrate_sweeps/package.xml b/calibrate_sweeps/package.xml
index 5613db90..0b863a4d 100644
--- a/calibrate_sweeps/package.xml
+++ b/calibrate_sweeps/package.xml
@@ -20,7 +20,10 @@
   <build_depend>semantic_map</build_depend>
   <build_depend>metaroom_xml_parser</build_depend>
   <build_depend>strands_sweep_registration</build_depend>
-
+  <build_depend>libceres-dev</build_depend>
+  <build_depend>suitesparse</build_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
 
   <run_depend>roscpp</run_depend>
   <run_depend>message_runtime</run_depend>
@@ -29,6 +32,15 @@
   <run_depend>semantic_map</run_depend>
   <run_depend>metaroom_xml_parser</run_depend>
   <run_depend>strands_sweep_registration</run_depend>
+  <run_depend> libceres-dev</run_depend>
+  <run_depend> suitesparse</run_depend>
+  <run_depend> qt_build</run_depend>
+  <run_depend>libpcl-all-dev</run_depend>
+  <run_depend>pcl_ros</run_depend>
+  <run_depend> image_geometry</run_depend>
+  <run_depend> cpp_common</run_depend>
+  <run_depend>actionlib</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
 
   <export>
   </export>
diff --git a/cloud_merge/CMakeLists.txt b/cloud_merge/CMakeLists.txt
index f1608af3..302c7e94 100644
--- a/cloud_merge/CMakeLists.txt
+++ b/cloud_merge/CMakeLists.txt
@@ -4,7 +4,7 @@ project(cloud_merge)
 ## Find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS mongodb_store roscpp actionlib actionlib_msgs std_msgs sensor_msgs tf pcl_ros semantic_map image_geometry image_transport qt_build)
+find_package(catkin REQUIRED COMPONENTS mongodb_store rospy roscpp actionlib actionlib_msgs std_msgs sensor_msgs tf pcl_ros semantic_map image_geometry image_transport qt_build)
 
 set(CMAKE_CXX_FLAGS "-O4 -fPIC -std=c++0x -fpermissive ${CMAKE_CXX_FLAGS}")
 
@@ -27,7 +27,7 @@ generate_messages(DEPENDENCIES actionlib_msgs sensor_msgs)
 
 catkin_package(
    INCLUDE_DIRS include
-   CATKIN_DEPENDS mongodb_store semantic_map std_msgs sensor_msgs tf pcl_ros image_geometry image_transport qt_build
+   CATKIN_DEPENDS mongodb_store semantic_map std_msgs sensor_msgs tf pcl_ros image_geometry image_transport qt_build actionlib actionlib_msgs rospy
 )
 
 include_directories(include
@@ -56,12 +56,18 @@ add_dependencies(cloud_merge ${catkin_EXPORTED_TARGETS})
 
 ############################# INSTALL TARGETS
 
-install(TARGETS cloud_merge 
+install(TARGETS cloud_merge
   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
+install(PROGRAMS
+        scripts/do_sweep.py
+    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+
 install(DIRECTORY include/cloud_merge/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
 )
diff --git a/cloud_merge/package.xml b/cloud_merge/package.xml
index 3a556e2e..6a17bd20 100644
--- a/cloud_merge/package.xml
+++ b/cloud_merge/package.xml
@@ -10,6 +10,7 @@
 
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
   <build_depend>std_msgs</build_depend>
   <build_depend>sensor_msgs</build_depend>
   <build_depend>tf</build_depend>
@@ -22,7 +23,11 @@
   <build_depend>qt_build</build_depend>
   <build_depend>qt_ros</build_depend>
   <build_depend>mongodb_store</build_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>actionlib_msgs</build_depend>
+
   <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
   <run_depend>std_msgs</run_depend>
   <run_depend>sensor_msgs</run_depend>
   <run_depend>tf</run_depend>
@@ -36,7 +41,8 @@
   <run_depend>mongodb_store</run_depend>
   <run_depend>scitos_ptu</run_depend>
   <run_depend>qt_build</run_depend>
-
+  <run_depend>actionlib</run_depend>
+  <run_depend>actionlib_msgs</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
 </package>
diff --git a/object_manager/CMakeLists.txt b/object_manager/CMakeLists.txt
index e43b2286..a1fb8960 100644
--- a/object_manager/CMakeLists.txt
+++ b/object_manager/CMakeLists.txt
@@ -81,16 +81,19 @@ add_dependencies(load_objects_from_mongo load_objects_from_mongo_generate_messag
  target_link_libraries(dynamic_object
    ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
+   ${QT_LIBRARIES}
   )
 
  target_link_libraries(object_manager_node
    ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
+   ${QT_LIBRARIES}
   )
 
  target_link_libraries(load_objects_from_mongo
    ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
+   ${QT_LIBRARIES}
   )
 
 ############################# INSTALL TARGETS
diff --git a/semantic_map_publisher/CMakeLists.txt b/semantic_map_publisher/CMakeLists.txt
index 8ad07668..38312458 100644
--- a/semantic_map_publisher/CMakeLists.txt
+++ b/semantic_map_publisher/CMakeLists.txt
@@ -55,6 +55,7 @@ add_dependencies(semantic_map_publisher semantic_map_generate_messages_cpp primi
  target_link_libraries(semantic_map_publisher
    ${catkin_LIBRARIES}
    ${PCL_LIBRARIES}
+   ${QT_LIBRARIES}
   )
 
 ############################# INSTALL TARGETS
diff --git a/strands_sweep_registration/CMakeLists.txt b/strands_sweep_registration/CMakeLists.txt
index 68c28534..4f290755 100644
--- a/strands_sweep_registration/CMakeLists.txt
+++ b/strands_sweep_registration/CMakeLists.txt
@@ -18,7 +18,7 @@ rosbuild_prepare_qt4(QtCore QtXml)
 catkin_package(
    INCLUDE_DIRS include
    CATKIN_DEPENDS metaroom_xml_parser image_geometry cpp_common roscpp rosconsole tf_conversions
-   DEPENDS libceres-dev suitesparse
+   DEPENDS libceres-dev suitesparse qt_build
    LIBRARIES PixelFunction_strands_room Camera_strands_room  Frame_strands_room Sweep_strands_room util_strands_room pair3DError_strands_room ProblemFrameConnection_strands_room RobotContainer_strands_room
 )
 
diff --git a/strands_sweep_registration/package.xml b/strands_sweep_registration/package.xml
index 9c6480a4..09be8899 100644
--- a/strands_sweep_registration/package.xml
+++ b/strands_sweep_registration/package.xml
@@ -19,6 +19,7 @@
         <build_depend> tf_conversions</build_depend>
         <build_depend> libceres-dev</build_depend>
         <build_depend> suitesparse</build_depend>
+
 	<run_depend> qt_build</run_depend>
         <run_depend>libpcl-all-dev</run_depend>
 	<run_depend>pcl_ros</run_depend>