diff --git a/CMakeLists.txt b/CMakeLists.txt
index c7b0562..bf2fccb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -22,11 +22,12 @@ link_directories(${OROCOS-RTT_LIBRARY_DIRS})
 add_definitions(${OROCOS-RTT_DEFINITIONS})
 
 if(NOT DEFINED ROS_FOUND)
-    find_package( ROS QUIET REQUIRED COMPONENTS roslib )
+	#    find_package( ROS QUIET REQUIRED COMPONENTS roslib )
+	find_package( roscpp )
 endif(NOT DEFINED ROS_FOUND)
 
-include_directories(${ROS_INCLUDE_DIRS})
-link_directories(${ROS_LIBRARY_DIRS})
+include_directories(${roscpp_INCLUDE_DIRS})
+link_directories(${roscpp_LIBRARY_DIRS})
 
 add_library(rtt-transport-ros-${OROCOS_TARGET} SHARED
     ros_publish_activity.cpp)
diff --git a/manifest.xml b/manifest.xml
index abac349..d79115b 100644
--- a/manifest.xml
+++ b/manifest.xml
@@ -4,7 +4,7 @@
     <author>Ruben Smits, ruben.smits@mech.kuleuven.be</author>
     <license>BSD</license>
     <url>http://ros.org/wiki/rtt_rosnode</url>
-    <depend package="roslib"/>
+
     <depend package="rtt"/>
 </package>