diff --git a/mavros/CMakeLists.txt b/mavros/CMakeLists.txt
index 5fb1f7baa..03b7f883e 100644
--- a/mavros/CMakeLists.txt
+++ b/mavros/CMakeLists.txt
@@ -103,7 +103,7 @@ add_library(mavros
   src/lib/rosconsole_bridge.cpp
 )
 add_dependencies(mavros
-  mavros_msgs_generate_messages_cpp
+  ${catkin_EXPORTED_TARGETS}
 )
 target_link_libraries(mavros
   atomic
diff --git a/mavros_extras/CMakeLists.txt b/mavros_extras/CMakeLists.txt
index e557878a0..94ad1960f 100644
--- a/mavros_extras/CMakeLists.txt
+++ b/mavros_extras/CMakeLists.txt
@@ -84,6 +84,9 @@ add_library(mavros_extras
   src/plugins/vision_pose_estimate.cpp
   src/plugins/vision_speed_estimate.cpp
 )
+add_dependencies(mavros_extras
+  ${catkin_EXPORTED_TARGETS}
+)
 target_link_libraries(mavros_extras
   ${mavros_LIBRARIES}
   ${catkin_LIBRARIES}